船舶运动解耦滤波与控制方法  

Decoupled ship motion’s filter and control method

作　　者：李新飞[1] 陈忠言 陆枭潇 黄福祥[3] LI Xin-fei;CHEN Zhong-yan;LU Xiao-xiao;HUANG Fu-xiang(Ship Engineering College,Harbin Engineering University,Harbin 150001,China;Shanghai Marine Diesel Engine Research Institute,Shanghai 200030,China;Offshore Oil Engineering Co.Ltd.,Tianjin 300451,China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [2]上海船舶设备研究所,上海200030 [3]海洋石油工程股份有限公司,天津300451

出　　处：《舰船科学技术》2022年第17期40-45,共6页Ship Science and Technology

基　　金：国家重点研发计划资助项目(2018YFC1406000);中海油研究总院项目(LSZX-2020-HN-05-04)。

摘　　要：为了解决动力定位(dynamic positioning,DP)船在复杂海况下的波浪运动滤波与控制问题,根据DP船耦合运动特点和波浪运动模型,提出一种基于Kalman技术的船舶三自由度解耦滤波方法,构建一种基于DP船状态观测方程的船舶动力定位仿真系统,并提出适用于DP船状态观测方程中的传感器噪声协方差矩阵和测量协方差矩阵参数的选择方法。船舶动力定位仿真结果表明,与传统非线性被动式滤波方法相比,本文方法对船舶一阶波浪运动的滤波效果更好,航向滤除了98%以上的一阶波浪运动,北东方向滤除了99%以上的一阶波浪运动,对传感器测量白噪声信号也有较好的抑制作用。对于船舶及其他海洋航行器运动控制技术的研究具有理论意义和工程价值。To solve the problem of wave motion filtering and efficient motion control of dynamic positioning ships in complex sea conditions. According to the DP ships′ three degrees of freedom coupling movement characteristic and wave motion, this paper proposes a method of decoupling ships′ three degrees of freedom based on Kalman filtering which constructs a DP simulation system based on DP ships′ three degrees of freedom observation equations and raises a selection method which applies to sensor noise covariance matrix and parameters of covariance measurement matrix in DP ships′ observation equations. The simulation results of dynamic positioning show that: compared with conventional nonlinear passive filtering method, the filtering effect of this method is better for the first-order wave motion of ships. The heading filter out more than 98% of the first order wave motion, and the north and east direction filter out more than 99% of the first order wave motion, which also has a good inhibitory effect on the white noise signal measured by the sensor. It has a certain guiding significance and strong engineering value for the research of navigation, motion control, and thrust allocation methods of ships and marine vessels.

关 键 词：船舶动力定位 一阶波浪运动 状态估计 KALMAN滤波 运动控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]