Novel comprehensive ship path tracking and anti-rolling optimization control method

Abstract

The invention provides a novel comprehensive ship path tracking and anti-rolling optimization control method. The method comprises the steps of building a ship motion control model with a rudder angleas an input according to ship motion characteristics; selecting a prediction time domain and a control time domain, and predicting a future state of a system; converting the ship path tracking and anti-rolling problem into the optimization problem considering the combination of energy consumption and control performance, solving the optimization problem under the constraint of an actuator, and applying a first element of a solution to the system; and building a fin stabilizer control model based on a sliding mode method, and performing online estimation on an unknown part of the system through an RBF neural network method. According to the method, a ship can be enabled to track a set route, so that the steering burden of sailors can be reduced, meanwhile the rolling motion of the ship canbe reduced, the hazard of wind waves on ship safety, ship equipment, cargo safety and personnel health can be reduced, and the normal operation of ship precision instruments is ensured. In addition,the energy consumption of the ship can be reduced, so that the ship is more economical and environment-friendly.

Description

technical field [0001] The invention relates to the technical field of ship control, in particular to a novel integrated ship path tracking and anti-rolling optimization control method. Background technique [0002] When a ship is sailing at sea, it is disturbed by external wind and waves, which will cause various shakings, and the rolling of the ship is the most harmful. The rolling of the ship may cause the cargo to move laterally, which will adversely affect the structure of the ship, and even affect the stability of the ship, causing the ship to capsize. At the same time, the rolling of the ship will affect the physical condition of the driver, make the driver unable to perform his duties well, and endanger the safety of ship navigation. [0003] At present, there are certain researches on ship anti-rolling and path tracking. Related literatures include: In 2009, "Path following with roll constraints for marine surface vessels inwave fields" published by LiZ uses the ad...

AI Technical Summary

Problems solved by technology

Fang MC published "Applying the PD controller on the roll reduction and track keeping for the ship advancing in waves" on "Ocean Engineering", combining rudders and fin stabilizers to stabilize the ship's roll, but it is limited to only heading control

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