利用航向舵减横摇控制研究

介绍利用航向舵减横摇的基本原理，建立船舶横向运动的系统模型及测量模型，基于有理谱理论，利用最小二乘法建立船舶受扰力及力矩的成形滤波器及状态方程，利用卡尔曼滤波对扩展系统状态进行最优估计，以二次型性能为指标构造随机最优控制律。在典型航行工况下进行了系统仿真，仿真结果表明，该方法可取得明显的减摇效果，其中减横摇效果可达70％以上，减艏摇效果可达50％以上。因此该方法具有一定的实用价值。

Control Research on Rudder Roll Stabilization

It is introduced the principle of decreasing rolling by Rudder Roll Stabilization and building the system model and observation model of lateral motion. On the basis of rational spectrum theory, least-square method is used to build the state equation and the forming filter of the shipping exciting force and disturbing moment, and then it gives the optimal estimation of the expanded system state is given by using Kalman filtering. It is given the stochastic optimal control rules of quadratic form performance index and gives the system simulation under the typical navigation condition as well. The simulation shows that this method can acquire obvious anti-rolling effectiveness, the anti-rolling effectiveness can reach 70% above and the anti-pitching effectiveness can reach 50% above. So the method has much use value.