Ship heading sea wave filtering method based on passive theory

Abstract

The invention belongs to the field of ship engineering, control science and control engineering, and relates to a ship heading sea wave filtering method based on the passive theory. The ship heading sea wave filtering method based on the passive theory comprises the steps that a ship heading mathematic motion model with sea wave perturbation is established; a non-linear Luenberger observer is established; the observance gain coefficient of the non-linear Luenberger observer is collected and parameters, consistent with the passivity condition, of an observance error system are obtained. According to the ship heading sea wave filtering method, estimation of ship low-frequency motion, sea wave high-frequency perturbation and offset states is completed through state reestablishment of ship heading motion and sea wave filtering, due to the fact that the passive theory is introduced, the method does not need variance information of sea wave perturbation and measurement noise, the number of the parameters which need to be adjusted is effectively reduced, and engineering realization is easy.

Description

technical field [0001] The invention belongs to the fields of ship engineering, control science and control engineering, and relates to a ship course sea wave filtering method based on passive theory. Background technique [0002] Wave filtering and state estimation are essential parts of a ship heading control system. Ships sail in the ocean, and waves are an inevitable environmental disturbance. Ocean wave disturbance is divided into high-frequency first-order disturbance moment and low-frequency second-order disturbance moment that can be resisted by rudder. The course motion of the ship can be regarded as a high-low frequency compound motion in which the high-frequency wave disturbance motion is superimposed on the low-frequency signal generated by the control action. The frequency of the first-order wave disturbance force (moment) is generally 0.05<f 0 <0.2Hz, this frequency range is higher than or close to the bandwidth frequency of the ship system, but genera...

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Problems solved by technology

The weather adjustment dead zone method makes the system not resist the course deviation in the dead zone, thereby reducing the influence of wave disturbance, but this method will also reduce the low frequency characteristics of the system at the same time, resulting in long-term periodic yaw of the ship, thereby increasing fuel consumption; low The pass or notch filter is a common method of filtering, which is simple and easy to implement, but the phase lag is introduced in the filtering process, which affects the stability of the system; the state observation method is generally used in modern high-performance ship control systems Among them, the design of nonlinear state observer is a difficult problem, and the design of wave filter based on nonlinear model is even more difficult

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