基于反馈线性化的船舶舵鳍联合减摇MPC控制

针对船舶运动系统具有非线性、强耦合、多变量等特性,并考虑海洋环境对船舶运动影响,建立了一个能够比较全面反映船舶运动本质特性的四自由度(纵荡、横荡、横摇、艏摇)运动非线性数学模型,基于模型预测控制是一种在控制领域得到实际应用的多变量优化控制策略,设计了基于反馈线性化的船舶舵鳍联合减摇模型预测控制(MPC)系统。在不同海情下,完成了横摇与航向联合控制仿真实验,结果表明：该控制方法鲁棒性强,既能实现精确的航向控制又能得到良好的减摇效果。

Ship's Rudder/Fin Joint Anti-Rolling MPC Control Based on Feedback Linearization

Aiming at the nonlinearity, strong coupling and multivariate characteristics of the ship motion system, and considering the influence of marine environment on ship motion, a four-degree-of-freedom (surging, swaying, rolling and yawing) motion nonlinear mathematical model is established to comprehensively represent the essential characteristics of ship motion. Since the model predictive control is an applied multivariable optimal control strategy, the ship rudder/fin joint anti-rolling Model Predictive Control (MPC) system based on feedback linearization is designed. The simulations of ship rolling and course-keeping joint control are carried out under different sea conditions, and the results show that the control method is robust and can achieve accurate heading control and good anti-rolling effect.