一种基于实时预测算法的船舶姿态控制器设计

发布时间：2018-04-14 23:23

  本文选题：横摇 + 预测算法　； 参考：《舰船科学技术》2016年18期

【摘要】：在船舶研发和改进过程中,研究减摇设备是重要课题之一。传统减摇设备的滞后性导致其不能有效避免波浪引起的船舶侧翻等灾害,故本文设计一种基于实时预测算法的船舶姿态控制器。将不规则波分解为大量规则波叠加建立波面模型,分析波倾角并建立船舶的传递模型。基于卡尔曼滤波算法设计船舶的横摇预测系统,再以减摇鳍为核心设计姿态控制器,最后进行模拟仿真。结果表明,预测系统预测结果准确,预测值误差较小,姿态控制器减摇效果良好,浪向角120°下横摇角被控制在5°以内。
[Abstract]:In the process of ship development and improvement, the research of anti-rolling equipment is one of the important topics.Due to the lag of the traditional anti-rolling equipment, it can not effectively avoid the ship rollover caused by the wave. Therefore, a ship attitude controller based on real-time prediction algorithm is designed in this paper.The irregular wave is decomposed into a large number of regular wave superpositions to establish the wave surface model, the wave dip angle is analyzed and the ship transfer model is established.The roll prediction system of ship is designed based on Kalman filter algorithm, and the attitude controller is designed with fin stabilizer as the core. Finally, the simulation is carried out.The results show that the prediction system is accurate, the error of prediction value is small, the effect of attitude controller is good, and the rolling angle is controlled within 5 掳at 120 掳of wave angle.
【作者单位】： 成都工业职业技术学院机电工程系;西华大学机械工程及自动化学院;
【分类号】：U664.82
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本文编号：1751494