高速多体船的解析预测控制减纵摇方法

doi:10.3969/j.issn.1000-1093.2021.09.017

摘要/Abstract

摘要： 为减少高速多体船的升沉和纵摇变化幅度，提高船体垂向运动平稳性，提出一种解析预测控制的减纵摇方法。建立T型翼和压浪板作为减摇附体的多体船垂向运动模型，分析升沉和纵摇运动的强耦合性和参数不确定性。定义有限时域的连续预测控制目标函数和终端等式约束，基于带有误差反馈校正的1阶欧拉模型预测升沉和纵摇运动状态，以提高预测模型精度和减摇控制性能。采用数值积分和最优二次序列规划理论获得多体船减摇的解析预测控制律，避免传统预测控制在线优化的复杂性，通过Lyapunov理论证明闭环系统的一致有界性。给出解析预测控制方法与广义预测控制等其他方法的减摇性能仿真对比，通过实验验证了新方法的有效性。

关键词: 高速多体船, 减纵摇, 解析预测控制, 误差反馈校正

Abstract: A fast analytic predictive control anti-pitching method is proposed to reduce the amplitudes of heaving and pitching changes of high-speed multi-hulled vessel and improve the stability of hull vertical motion.A vertical motion model is established for high-speed multi-hulled vessel with T-foil and flap severed as anti-pitching appendages，and the strong coupling of heaving/pitching motions and model uncertainty are analyzed. With the establishment of objective function and terminal equality constraint of continuous predictive control，the first-order Euler model with error feedback correction is used to predict the heaving/pitching motions，thus improving the accuracy and anti-pitching control performance of prediction model. On this basis，the numerical integration method and optimal quadratic programming theory are used to obtain the analytical predictive control law for vertical stabilization of high-speed multi-hulled vessel，thus significantly reducing the complexity of online optimization.The uniform boundedness of the closed-loop system is theoretically proved based on the Lyapunov theory. The anti-pitching performances of the analytical predictive control method and other generalized predictive control methods are compared through simulation，and the effectiveness of the proposed algorithm is verified through experiment.

Key words: high-speedmulti-hulledvessel, anti-pitching, analyticalpredictivecontrol, errorfeedbackcorrection

中图分类号:

张军，温昊，刘志林，李国胜. 高速多体船的解析预测控制减纵摇方法[J]. 兵工学报, 2021, 42(9): 1962-1971.

ZHANG Jun， WEN Hao， LIU Zhilin， LI Guosheng. An Analytical Predictive Control Anti-pitching Method for a High-speed Multi-hulled Vessel[J]. Acta Armamentarii, 2021, 42(9): 1962-1971.

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