基于卷积理论的船舶舵效辨识及艏向短时预测方法  

Rudder effect identification and ship heading short-term prediction method based on convolution theory

作　　者：韦雨含 王丛佼[2] 侯彦琳[3] 邹早建[1] WEI Yuhan;WANG Congjiao;HOU Yanlin;ZOU Zaojian(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;School of Electrical Engineering,Shanghai Dianji University,Shanghai 201306,China;Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200240 [2]上海电机学院电气学院,上海201306 [3]上海海事大学商船学院,上海201306

出　　处：《上海海事大学学报》2023年第3期1-4,11,共5页Journal of Shanghai Maritime University

基　　金：国家自然科学基金(51979165)。

摘　　要：针对船舶较长的操舵响应时间使得航向难以快速把定,甚至引起艏向角振荡及更多的安全问题,应用卷积理论并结合二阶惯性系统的单位脉冲响应特性,设计一种对船舶舵效进行辨识并对未来短时间内艏向变化进行预测的方法。利用采集的实船数据对该方法进行验证。用该方法得到的舵效和艏向短时预测结果可为船舶在紧迫局面下的避让提供可靠的决策支持信息,可为船舶自主航行智能决策提供支持。In view of the problem that the ship s long steering response time makes it difficult to set the heading quickly,and even causes the ship s heading angle oscillation and more safety problems,this paper uses the convolution theory and the unit impulse response characteristics of the second-order inertial system to design a method to identify the rudder effect and predict the ship s heading change in a short time in the future.The method is validated by the data collected from real ships.The rudder effect and the heading short-term prediction results obtained by this method can provide reliable decision support information for ship avoidance in an urgent situation,and can provide support for the intelligent decision of ship autonomous navigation.

关 键 词：舵效 船舶航向预测 卷积 二阶惯性系统 

分 类 号：U664.82[交通运输工程—船舶及航道工程] U661.33[交通运输工程—船舶与海洋工程]