船舶自适应逆控制操舵

经典反馈控制将对象动态响应的控制和噪声的消除放在同一个过程中进行,这种方法往往会产生为了满足一个指标而牺牲另外一个指标的矛盾.本文介绍了一种新的控制方法--自适应逆控制,阐述了自适应逆控制的特点,讨论了自适应逆控制系统的三个基本单元--对象建模、逆控制器建模和扰动消除器.自适应逆控制将对象动态响应的控制和噪声的消除分开来考虑,解决了上述经典反馈控制的矛盾.在仿真软件Matlab上进行船舶自动舵仿真时,分别采用了自适应逆控制方案的ELS(增广最小二乘)算法和经典反馈控制的PID(比例积分微分)算法.仿真结果表明了自适应逆控制的优点.     

H∞ control design to include nonlinearities. Second report: nonlinearities in equations of motion

In our first report, a method to deal with the nonlinearity of saturation was proposed. A method of dealing with nonlinearity in equations of motion is proposed in this paper. The nonlinear equations of motion are expressed as variations of linear equations of motion. The nonlinear equations can be linearized around a specific point with a tangential plane or line. Accordingly, nonlinear equations effective in a certain domain can be obtained by variations in this tangential line. A control system with varying elements can be designed using the general H _∞ control theory. As an example, we present a speed and heading changing system for large vessels at low speeds during berthing maneuvers, where the equation will vary during motion. The nonlinearity of the equations is caused by the speeds. The control system is essentially designed to be robust in disturbance and noise. In this example, the saturation in the propeller is also considered using the method proposed in the first report. The results show that the method proposed in this paper is effective. Received: February 20, 2001 / Accepted: December 11, 2001     

On the realization of nonlinear wave profiles using the Banach fixed-point theorem: Stokes wave in a finite depth

A new mathematical formulation for the realization of nonlinear wave profiles and its nonlinear solution procedure, based on the Banach fixed-point theorem, is proposed. To apply the formulation, a nonlinear equation for the Stokes wave in a finite depth was derived, and some numerical solutions are given. A numerical study showed that the proposed iteration method, based on linear progressive wave potential only, enabled us to realize the Stokes nonlinear wave profiles in a finite depth. The nonlinear strategy of iteration has a very fast convergence rate, i.e., only about 6–10 iterations are required to obtain a numerically converged solution.     

基于反馈线性化的AFE变频器功率控制

提出了一种新的有源前端(Active Front End, AFE)变频器功率控制策略，仿真测试验证了基于该策略的AFE变频器具有交流侧电流畸变小、直流电压稳定、静态和动态性能好、能量可双向流动等优点。该策略基于多输入多输出非线性系统的反馈线性化理论和同步旋转坐标变换，将AFE变频器功率控制模型转化为线性、时不变的解耦系统，有利于控制系统的设计及实现。     

Design of robust fuzzy controller for ship course-tracking based on RBF network and backstepping approach

1 Introduction1 Recently, adaptive control approaches based on fuzzy neural network (FNN) have been studied in a lot of papers [1–4]. FNN combines the capability of fuzzy reasoning in handling uncertain information and the capability of artificial neural…     

永磁同步电机传动系统的非线性控制策略及其调速系统的实现

介绍了永磁同步电机传动系统调速系统控制。首先简单分析了非线性控制策略,进而分析了电流返回解耦方式和SVPWM原理,设计双闭环控制器,介绍系统软硬件设计。实验结果证实控制器设计的正确,空载条件下,稳态时速度波动幅度不超过2 rpm,稳定性良好;速度给定10 rpm时,稳态误差为1 rpm,系统低速运行效果良好。证明了电流返回解耦方式和SVPWM原理线性控制策略具有很好的动态性能和稳定性。     

Research on catastrophe control in 1-D system

A new method of catastrophe control is described in one dimension nonlinear system. Catastrophe control based on catastrophe theory is a brand new area for control theory. A certain catastrophe is created at a desired location by appropriate control, which has preferred properties. Washout filter is presented and applied to preserve the original equilibrium of a system.Washout filter aided dynamic feedback controller is developed for the creation of eatastrophe, and an example is given to illustrate the process. Catastrophe control may provide a new way of designing warning signals of impending collapse or catastrophe for monitoring and control purposes.     

Nonlinear model predictive dynamic positioning control of an underwater vehicle with an onboard USBL system

This paper presents a novel optimization-based approach for dynamic positioning (DP) of a fully actuated underwater vehicle equipped with an onboard ultrashort baseline transceiver to provide relative position information of two earth-fixed transponders near the vehicle. The DP system error is defined by the transponders’ positions compared to the desired values, which occur at the vehicle’s target pose (position and orientation). The proposed DP strategy is composed of two loops in a hierarchical structure. In the kinematic loop, the nonlinear model predictive control is used to generate the desired velocity by optimizing a cost function of the predictive trajectories under the constraints of velocity and transponder bearings over a limited time horizon. In the dynamic loop, the neural network model reference adaptive control with pseudo control hedging is utilized to ensure the asymptotical convergence of velocity tracking errors in the presence of uncertainties associated with unknown model parameters, currents and thruster dynamics. The effectiveness of the proposed control scheme is illustrated by comprehensive simulations.     

An ill-posed inverse problem of a wing with locally given velocity data and its analysis

Using locally given vertical velocity data around a wing, an inverse formulation is presented to solve a lifting problem. The inverse problem is expressed by a Fredholm integral equation of the first kind. In this paper, the kernel of the integral equation gives a Hilbert–Schmidt integral operator, and therefore the occurrence of ill-posedness in the sense of stability cannot be avoided in a normal topology. This difficulty is solved by using the regularization method for ill-posed problems. A composition mapping is introduced so that local velocity data can be available for this inverse problem. In this paper, the ill-posed inverse problem of a wing is studied using the Landweber–Friedman's regularization method within the framework of linear potential theory. A numerical example demonstrates that only with locally given velocity data is the regularization method accurate and suitable for the present physical problem of an inverse mathematical formulation. Therefore, the lifting problem can be solved by using a locally given fluid velocity instead of a wing geometry. Received: April 13, 2000 / Accepted: April 20, 2000     

无模型自适应控制算法在ROV定深控制中的仿真

将无模型自适应控制方法应用于ROV(Remote Operated Vehicle)定深控制当中。该控制方案的设计仅利用ROV的垂向推力输入数据和深度输出数据，用动态线性化时变模型替代ROV非线性系统模型，算法中不包含ROV模型及水动力参数信息。因此，解决了ROV因系统复杂，水动力参数难以确定所导致的控制器设计复杂度高，控制效果不理想的问题。为了便于仿真，本文建立含有补偿参数的ROV简化模型，模型仅用于产生系统的I/O数据，不参与控制器的设计。仿真结果表明，在ROV定深控制当中，无模型自适应控制(Model-free adaptive control，MFAC)比PID控制具有更强的抗扰能力。此外，在欠阻尼ROV系统中，基于偏格式动态线性化的无模型自适应控制(partial form dynamic linearization based Model-free adaptive control，PFDL-MFAC)方案相比于基于紧格式动态线性化的无模型自适应控制(compact form dynamic linearization based Model-free adaptive control，CFDL-MFAC)方案具有更好的控制效果。     

Simultaneous detection of the nonlinear restoring and excitation of a forced nonlinear oscillation: an integral approach

We address in this article, how to calculate the restoring characteristic and the excitation of a nonlinear forced oscillating system. Under the assumption that the forced nonlinear oscillator has a periodic solution with period \(T=2\pi / \omega\), we constructed a system of linear equations by introducing time-dependent multipliers. The periodicity assumption helps simplify the system of linear equations. The stability and uniqueness are also presented for the inverse problem. Numerical testing is conducted to show the effectiveness of our presented methodology.     

基于X-LMS自适应逆控制理论的船舶自动舵研究

本文分析了自适应逆控制理论和X—滤波LMS自适应逆控制算法，并针对船舶自动舵特点，用修正传递函数的方式来稳定船舶操纵模型，使用LMS算法对船舶进行模型参数辩识和控制器的设计。仿真结果表明，与PID控制相比，X—滤波LMS自适应逆控制算法具有动态响应快，抗扰动性好等特点。     

基于扰动观测器的船舶动力定位反步控制

针对船舶动力定位系统模型受到风浪流等环境未知有界扰动的问题，提出一种基于干扰估计补偿的反步控制算法。首先基于滑模面有限时间收敛特点设计干扰观测器，在有限时间内实现对未知有界干扰的估计，并采用一阶低通滤波器连续化干扰观测器估计值，减少抖振；然后基于干扰观测器设计船舶动力定位反步控制器，并应用Lyapunov函数证明了所设计的控制器使船舶的位置和航向收敛于期望值。最后通过铺缆船仿真结果表明所设计控制器具有较好的控制性能，对系统的有界干扰具有良好的鲁棒性。     

大幅船舶横摇运动非线性附加质量惯性矩和阻尼矩特性的非参数识别（英文）

This study aims to investigate the nonlinear added mass moment of inertia and damping moment characteristics of largeamplitude ship roll motion based on transient motion data through the nonparametric system identification method. An inverse problem was formulated to solve the first-kind Volterra-type integral equation using sets of motion signal data. However, this numerical approach leads to solution instability due to noisy data. Regularization is a technique that can overcome the lack of stability; hence, Landweber's regularization method was employed in this study. The L-curve criterion was used to select regularization parameters(number of iterations) that correspond to the accuracy of the inverse solution. The solution of this method is a discrete moment, which is the summation of nonlinear restoring, nonlinear damping, and nonlinear mass moment of inertia. A zero-crossing detection technique is used in the nonparametric system identification method on a pair of measured data of the angular velocity and angular acceleration of a ship, and the detections are matched with the inverse solution at the same discrete times. The procedure was demonstrated through a numerical model of a full nonlinear free-roll motion system in still water to examine and prove its accuracy. Results show that the method effectively and efficiently identified the functional form of the nonlinear added moment of inertia and damping moment.     

内模控制及逆系统算法在船舶运动控制中的仿真研究

针对船舶运动中多变量耦合、非线性、滞后、限幅、绿色控制等控制问题,提出运用基于逆系统方法的内模控制方法。该方法采用逆系统方法原理将船舶的非线性模型变换成伪线性模型,对伪线性模型进行内模控制。同时提出内模控制与其他控制策略相结合例如 PID 控制相结合的控制方法以期提升内模控制的控制效果。仿真结果表明,内模控制具有良好的控制效果,而且精度高,鲁棒性好,同时参数调节简单方便。     

一个新混沌系统的非线性反馈同步

研究了一个新的混沌系统的混沌同步问题。基于Lyapunov稳定性理论,采用非线性反馈混沌同步方法,给出了该系统实现自同步的充分条件以及控制律参数的取值范围;结合参数自适应混沌同步方法,实现了该混沌系统与统一混沌系统的异结构系统快速同步。数值仿真证明了该方法的有效性。     

Comparison of CFD and EFD for the Series 60 C B= 0.6 in steady drift motion

 This paper presents comparisons of computational and experimental fluid dynamics results for boundary layers, wakes, and wave fields for the Series 60 C _B= 0.6 ship model in steady drift motion. The numerical method solves the unsteady Reynolds-averaged Navier–Stokes and continuity equations with the Baldwin–Lomax turbulence model, exact nonlinear kinematic and approximate dynamic free-surface boundary conditions, and a body/free-surface conforming grid. The experimental and computational conditions, i.e., Froude numbers of 0.16 and 0.316 for the experiments, and Froude numbers of 0 and 0.316 for the computations, allow comparisons of low and high Froude number results, respectively, which allows an evaluation of Froude number effects and validation of the computational fluid dynamics at both low and high Froude numbers. This article gives an overview of this numerical approach, and the computational conditions and uncertainty analysis are described. Results are presented for the wave and flow fields, with emphasis on the important flow features of drift- and wave-induced effects in comparison with the experiments. Finally, conclusions from the present study are given, together with recommendations for future work. Received: August 31, 2001 / Accepted: March 25, 2002     

基于Backstepping的船舶航向自适应鲁棒

针对非线性船舶航向控制中船舶参数不确定性以及外界干扰随机性的特点，提出了一种基于Backstepping的自适应鲁棒控制器非线性系统的设计方法．为了消除静态误差，设计过程中引入了积分器，并借助Lyapunov函数证明了该控制策略使得闭环系统全局一致最终有界，选取恰当的设计参数可保证航向保持误差任意小．仿真结果表明所设计的控制器是有效的．     

基于Backstepping的船舶航向自适应鲁棒非线性控制器设计

针对非线性船舶航向控制中船舶参数不确定性以及外界干扰随机性的特点,提出了一种基于Backstepping的自适应鲁棒控制器非线性系统的设计方法.为了消除静态误差,设计过程中引入了积分器,并借助Lyapunov函数证明了该控制策略使得闭环系统全局一致最终有界,选取恰当的设计参数可保证航向保持误差任意小.仿真结果表明所设计的控制器是有效的.     

Predictions of porpoising inception for planing vessels

The inception of porpoising is theoretically predicted for planing vessels. Two different approaches are presented. First, a linear stability analysis is applied to find the porpoising limits while the hydrodynamic coefficients, i.e. added mass and damping coefficients, are determined by either a simplified method or a numerical method. Another approach is to seek the porpoising limits by performing nonlinear time domain simulations. Either the simplified method or the numerical method is used in the simulations. In the numerical method, a 2D+t theory together with a boundary element method is employed. The trim angle limits for porpoising are determined by changing the longitudinal position of the centre of gravity (COG) of the vessel and keeping the forward speed constant. The predicted porpoising limits are compared with Day and Haag’s (Planing boat porpoising, Thesis, Webb Institute of Naval Architecture, 1952) experimental results. The influences of parameters such as the load coefficient, the vertical position of COG and the radius of gyration of the ship are investigated by varying those parameters in the linear stability analysis. In the nonlinear time-domain simulations, by trying different longitudinal position of COG, one can find the critical trim angle when the porpoising commences. The obtained trim limits agree generally with those predicted by the linear stability analysis. Bounded oscillations for the unstable cases near the critical trim angle can be seen in the time-domain simulations due to the nonlinear effects.