【作者】 马洁；

【导师】 李国斌；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2006， 博士

【摘要】 水面舰船在海洋中的运动由于受到波浪、海风和其它干扰的影响，会产生六个自由度的复杂运动，具有较强的随机性和非线性特性，这就导致了对船舶运动预报与减摇控制具有相当的困难。因此研究有关船舶运动的非线性预报与减摇控制方法具有非常重要的意义。 对于船舶运动的控制具有相当的不确定性，这就使其不可避免地存在模型参数变化、模型结构变化等问题，因此就要求所设计的控制系统具有一定的参数适应性和结构适应性，而多层递阶方法理论正适用于这种情况。 多层递阶理论是对非线性控制理论的丰富与发展。多层递阶辨识所得到的模型，有利于解决船舶运动预报问题。多层递阶控制进一步发展成为无模型自适应控制，有助于实现船舶运动的有效控制。 本论文首次将多层递阶理论应用于船舶运动的预报与减摇控制，提出了基于多层递阶方法理论的船舶运动预报与减摇控制方法。分别采用传统的自回归法和新型的多层递阶两种预报方法进行了仿真研究和对比分析，研究结果表明，自回归法因用固定参数模型预测一个时变参数系统的情况而致存在一定的局限性；多层递阶为时变参数模型，能较好地反映系统的非线性，时变特性，可以取得较精确的预报结果。 研究了高海情下不同船型、各种航态(不同海况、不同航速、不同航向)船舶横摇和纵摇运动规律，并进行了仿真分析。针对船舶横摇运动的复杂性，将无模型控制基本算法引入综合减摇装置控制器设计中。进行了鳍—被动水舱综合平衡系统控制器的设计研究，仿真结果表明：基于无模型控制器的减摇鳍—被动水舱综合平衡系统在高海情、全航速、全航向的条件下均有很好的减摇效果。 减摇水舱试验台架电液力矩伺服系统所采取的控制策略是否先进和有效是设计减摇水舱试验台架的关键，针对模型控制策略对非线性系统的控制在更多还原

【Abstract】 The movement of ships which is affected by the disturbance such as sea wave and sea wind will give rise to six-dimension complex perturbation. Since the perturbation is stochastic and nonlinear, the movement prediction and anti-roll control are very difficult. So it is important to study ship movement nonlinear prediction and anti-roll control method.The ship movement control is always uncertain, there are the problems of model parameter changing and model structure changing. In view of that, a control system which have the capability of parameter adaptation and structure adaptation should be designed, the multi-level recursive method can well cope with this situation.The multi-level recursive (MR) method has greatly developed the study of the nonlinear control system and achieved accomplishments in both academic study and practical engineering. The multi-level method includes multi-level identification, multi-level prediction and multi-level control. The multi-level identification is used to identify the system model which helps ship movement prediction. The multi-level control has been developed into model free adaptive control (MFAC) for ship movement anti-roll control.This dissertation first applies multi-level recursive method to the ship movement prediction and the ship anti-roll control .In this dissertation, the main study contents are:putting forward ship movement prediction and ship anti-roll control based on MR (multi-level recursive) method.Making further study to the MRP. Simulation comparing study is carried on by taking respectively the traditional AR method and the new type MR method to the same system. The results indicate that the AR method have its limitation to a certain extent resulting from using a fixed parameter model to predict a time changing parameter system. On the contrary, since the MR method use a time更多还原