Ship's Rudder/Fin Joint Anti-Rolling MPC Control Based on Feedback Linearization

doi:10.16182/j.issn1004731x.joss.19-0081

Abstract

Abstract: Aiming at the nonlinearity, strong coupling and multivariate characteristics of the ship motion system, and considering the influence of marine environment on ship motion, a four-degree-of-freedom (surging, swaying, rolling and yawing) motion nonlinear mathematical model is established to comprehensively represent the essential characteristics of ship motion. Since the model predictive control is an applied multivariable optimal control strategy, the ship rudder/fin joint anti-rolling Model Predictive Control (MPC) system based on feedback linearization is designed. The simulations of ship rolling and course-keeping joint control are carried out under different sea conditions, and the results show that the control method is robust and can achieve accurate heading control and good anti-rolling effect.

Key words: rudder/fin joint roll stabilization, four-degree-of-freedom model, feedback linearization, Model Predictive Control

CLC Number:

TP391.9

Li Hui, Xie Yingnan, Lan Liqi. Ship's Rudder/Fin Joint Anti-Rolling MPC Control Based on Feedback Linearization[J]. Journal of System Simulation, 2020, 32(9): 1753-1761.

References

[1] Koshkouei A J, Burnham K J, Law Y.A comparative study between sliding mode and proportional integrative derivative controllers for ship roll stabilisation[J]. Iet Control Theory & Applications (S1751-8644), 2007, 1(5): 1266-1275.
[2] Carletti C, Gasparri A, Ippoliti G, et al.Roll Damping and Heading Control of a Marine Vessel by Fins-Rudder VSC[J]. IFAC Proceedings Volumes (S1474-6670), 2010, 43(20): 34-39.
[3] Carletti C, Gasparri A, Longhi S, et al.Simultaneous roll damping and course keeping via sliding mode control for a marine vessel in seaway[C]. Proceedings of the 18th IFAC World Congress. Amsterdam: Elsevier, 2011, 44(1): 13648-13653.
[4] 阮苗锋, 宋立忠, 李湘平. 基于模糊神经网络的舵鳍联合减摇控制[J]. 中国航海, 2015, 38(2): 52-55.
Ruan Miaofeng, Song Lizhong, Li Xiangping.Rudder-Fin Joint Roll Damping Control Based on Fuzzy-Neural Network[J]. Navigation of China, 2015, 38(2): 52-55.
[5] 王振强, 胡绪昌, 黄雪平, 等. 某型船舶舵鳍联合减摇控制策略研究[J]. 船舶工程, 2017(增1): 176-179, 209.
Wang Zhenqiang, Hu Xuchang, Huang Xueping, et al.Research of Rudder and Fin Joint Damping Control Strategy of Ship[J]. Ship Engineering, 2017(S1): 176-179, 209.
[6] Li H, Shen X, Shen C.Adaptive Backstepping Sliding Mode Control for Rudder/Fin Joint Roll Stabilization System[C]. Proceedings of the 37^th Chinese Control Conference. Wuhan: IEEE, 2018: 322-326.
[7] 邹令辉, 周岗, 李文魁, 等. 基于最优控制的舵鳍联合减摇性能指标函数的分析研究[J]. 舰船科学技术, 2018, 40(4): 17-21.
Zou Linghui, Zhou Gang, Li Wenkui, et al.The method of choosing performance index for rudder/fin joint roll stabilization based on optical control[J]. Ship Science and Technology, 2018, 40(4): 17-21.
[8] 贾欣乐, 杨盐生. 船舶运动数学模型[M]. 大连: 大连海事大学出版社, 1998.
Jia Xinle, Yang Yansheng.Mathematical model of ship motion[M]. Dalian: Dalian Maritime University Press, 1998.
[9] 孫景浩, 野本謙作. 高速コンテナ船の操縦運動と横揺れとの連成挙動について[C]. 日本造船学会論文集.東京都:日本船舶海洋工学会, 1981.
[10] Wang L P.Model predictive control system design and implementation using MATLAB[M]. London: Springer Science & Business Media, 2009.
[11] 廖启亮. 先进滑模控制策略在非线性控制系统中的研究与应用[D]. 广州: 华南理工大学, 2005.
Liao Qiliang.Advanced Sliding Mode Control Theory Study in Nonlinear Systems and Applications to Virtual Reality[D]. Guangzhou: South China University of Technology, 2005.
[12] Zheng H, Negenborn R R, Lodewijks G.Trajectory tracking of autonomous vessels using model predictive control[J]. IFAC Proceedings Volumes (S1474-6670), 2014, 47(3): 8812-8818.
[13] 杜文艳. 迭代学习模型预测控制算法研究与应用[D].北京: 华北电力大学, 2012.
Du Wenyan.Model Predictive Control Algorithm[D]. Beijing: North China Electric Power University, 2012.
[14] Sarkar S K, Badal F R, Das S K, et al.Discrete time model predictive controller design for voltage control of an islanded microgrid[C]. 3^rd International Conference on Electrical Information & Communication Technology. Khulna: IEEE, 2017.
[15] 席裕庚. 预测控制[M]. 北京: 国防工业出版社, 2013.
Xi Yugeng.Predictive Control[M]. Beijing: National Defence Industry Press, 2013.