复杂海况下时变船舶运动系统在线辨识及云控制研究

Ship tracking control is a important component of ship motion control system. Effective ship trajectory tracking control can reduce the disturbance impact on ship trajectory, and also improve the sailing economy. Therefore, the high precision parameter identification of ship motion model and the design of efficient ship track controller during voyages are two research puzzles yet to be solved..In this project, the objectives are three-fold：1）to online identify time-varying ship motion model which is focused on the time-variety of ship motion model, the complexity of environment disturbance rule and the wide range of disturbance; 2）to design linear/nonlinear active disturbance rejection switching controller for ship trajectory tracking control; 3）to build nonlinear control-online identification closed loop structure of ship plane motion, and to study cloud control strategies of trajectory tracking control of under actuated ship..The research results of this proposal would help to reveal the mechanism that how ship motion is disturbed by complex disturbance of environment, provide the fundamental theory supports to online identification of ship motion model and ship tracking control. In all, the research in this proposal is meaningful for improving the quality of ship motion control and the development of unmanned ship.

船舶航迹控制是船舶运动控制的一个重要组成部分，高效的船舶航迹跟踪控制可以减少复杂海况干扰对船舶航行轨迹的影响，使船舶按航行计划高效航行，从而提高船舶航行过程的经济性。船舶在航期间的高精度船舶运动系统参数辨识及高效能的船舶航迹控制器设计是凾待解决的难题。本项目拟围绕在航期间欠驱动船舶运动系统参数时变性、环境干扰规律复杂性、扰动幅度区间宽度大的特点，研究包含自适应滤波器的时变船舶运动系统参数在线辨识方法；设计船舶航迹跟踪线性/非线性自抗扰切换控制器；建立船舶平面运动的非线性控制-在线辨识闭环结构，开展欠驱动船舶航迹跟踪云控制策略研究。本项目的研究成果有助于揭示复杂海况下船舶运动的受干扰机理，为船舶运动系统在线辨识和复杂海况下船舶航迹跟踪控制提供理论依据，对提升船舶运动控制品质及无人船艇的发展具有重要意义。

本项目主要围绕在航期间欠驱动船舶运动系统参数时变性、环境干扰规律复杂性、扰动幅度区间宽度大的特点，研究欠驱动船舶运动系统的在线辨识及轨迹跟踪控制策略。所开展的工作和创新点包含：搭建基于KCS集装箱船的商船自主航行控制实验平台及其操纵性试验；。研究包含小波滤波器的时变船舶运动系统参数在线辨识方法；设计欠驱动船舶航迹跟踪线性/非线性自抗扰切换控制器；开展复杂海况下欠驱动船舶航迹跟踪云控制策略研究。相关研究成果如下：（1）在国内外学术期刊和国际学术会议上发表论文7篇，其中6篇期刊论文被SCI收录，EI国际会议论文1篇；（2）申请国家专利两项，其中已授权一项；（3）研制船舶控制试验平台一套。