为滤除船舶动力定位系统中的高频分量，减少推进器不必要的机械磨损和燃料消耗，基于无源性理论设计了非线性无源滤波器，并证明了其稳定性。建立了非线性船舶模型并在Matlab上对一实际船舶模型进行仿真，针对4种不同海况将所设计非线性无源滤波器和卡尔曼滤波器进行对比分析，结果显示在平静海况下，2种滤波器均能有效的滤除高频噪声，在高海况和极端海况下，卡尔曼滤波器滤波效果不明显，所设计无源滤波器仍有较好的滤波效果，仿真结果表明无源滤波器稳定性更好，鲁棒性更强。
A passive nonlinear filter is designed to filter out high frequency components in dynamic positioning system based on passivity theory, reducing unnecessary mechanical abrasions of thrusters and fuel consumption, while the stability is proved. Besides, nonlinear ship model is established. Simulations are conducted on an actual ship model with the help of MATLAB, with further comparison and analysis of filtering effects between passive nonlinear filter and Kalman filter in four different sea conditions separately. The result shows that in calm and moderate sea conditions, both of the filters can work well, but in high and extreme sea conditions the filtering effects of Kalman filter become worse, while passive nonlinear filter still works effectively, which can demonstrate that the designed passive nonlinear filter is more stable and more robust than Kalman filter.
2018,40(11): 156-160 收稿日期：2017-04-18
DOI：10.3404/j.issn.1672-7649.2018.11.032
分类号：TN911
基金项目：国家自然基金资助项目（414713387）
作者简介：王永建(1992-),男,硕士研究生,研究方向为船舶自动控制系统
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