Ship track tracking prediction control method inhibiting parametric rolling actively

Abstract

The invention provides a ship track tracking prediction control method inhibiting parametric rolling actively. The method includes steps of constructing a multivariate multi-index RBF-ARX model describing dynamic relationship among yew angle deviation, location tracking errors, a rudder angle, navigational speed and a rolling angle of a ship during a track tracking process comprehensively; analyzing the parametric rolling process of the ship and constructing a predication model for the parametric rolling process under a uniform frame of a RBF-ARX model constructing theory; performing comprehensive evaluation of model construction performance by taking long-term predication performance, short term predication performance within a certain time domain and turning experimental performance of a model as indicators for performance check. The ship track tracking prediction control method can be used as an inner model of a ship track tracking predication controller, so that the control precision of the track tracking process is improved. Ship travelling safety can be enhanced in a large degree and accidents can be reduced. The method only needs to be used with an existing autopilot system of the ship together, so that the upgrading cost of ship equipment can be reduced substantially.

Description

technical field [0001] The invention belongs to the technical field of ship track tracking control, in particular to a ship track tracking predictive control method for actively suppressing parametric roll. Background technique [0002] The purpose of ship track tracking control is to make the ship follow a given reference path at a certain speed, which is also called the ship path following problem. The purpose of the ship autopilot system in the traditional sense is to keep the heading direction of the ship consistent with the expected course, which is called course keeping control, and the ship's heading direction is measured by the gyroscope. Nowadays, the ship's position signal (longitude and latitude) can be obtained through the Global Positioning System (GPS), so that the ship's track can be kept consistent with a given reference track to realize track tracking control. The first way to realize the track tracking control is to make the ship's heading direction follow...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a ship track tracking predictive control method that actively suppresses parametric roll, aiming to solve the problem of inaccurate description of track tracking control process and parametric roll resonance process in the existing ship track tracking control process

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