为解决舰船避撞过程中舵角控制实时性不足问题，研究舰船避撞过程中船舵不稳定性分析方法，确保舰船在复杂多变的海况中，可以更好地适应波浪、洋流等环境因素，保持舰船航行的稳定性。通过构建舰船避撞过程中的线性模型，得到舰船避撞过程中的输入舵角；以舰船线性模型为基础，得到舰船避撞过程中包含时变延迟的舰船线性模型，并结合李雅普诺夫稳定性判定理论，获取包含时变延迟的舰船线性模型，输入舵角作用下是不稳定的，完成舰船避撞过程中船舵不稳定性分析。实验证明，该方法可有效实现舰船避撞过程中船舵不稳定性分析；应用该方法后，可有效提升舰船避撞过程航迹的平滑性与稳定性，加强避撞效果。
In order to solve the problem of insufficient real-time control of rudder Angle during ship collision avoidance, the analysis method of rudder instability during ship collision avoidance is studied to ensure that ships can better adapt to environmental factors such as waves and ocean currents in complex and changeable sea conditions, and maintain the stability of ship navigation. The input rudder Angle of ship collision avoidance is obtained by constructing the linear model of ship collision avoidance. Based on the ship linear model, a ship linear model containing time-varying delay in the course of ship collision avoidance is obtained, and combined with Lyapunov stability judgment theory, a ship linear model containing time-varying delay is obtained, which is unstable under the input rudder Angle, and the instability analysis of ship rudder during the course of ship collision avoidance is completed. Experimental results show that this method can effectively analyze rudder instability during collision avoidance. After applying this method, the smoothness and stability of ship track during collision avoidance can be effectively improved, and the collision avoidance effect can be strengthened.
2024,46(15): 53-56 收稿日期：2024-07-15
DOI：10.3404/j.issn.1672-7649.2024.15.009
分类号：U666.1
基金项目：江苏省高等学校大学生创新创业训练计划省级A类项目（202112679011Y）
作者简介：廖华（1981 – ），男，高级工程师，研究方向为船舶工程
参考文献：
[1] 黄立文, 刘进来, 贺益雄, 等. 考虑舵机延时的船舶最优航向控制器设计[J]. 武汉理工大学学报, 2023, 45(8): 60-67.
HUANG Liwen, LIU Jinlai, HE Yixiong, et al. Design of ship optimal course controller considering the delay of steering gear[J]. Journal of Wuhan University of Technology, 2023, 45(8): 60-67.
[2] 李宗宣, 卜仁祥, 范艺. 结合速度和干扰观测的船舶路径跟踪模型预测控制[J]. 上海海事大学学报, 2021, 42(1): 19-25.
LI Zongxuan, BU Renxiang, FAN Yi. Model predictive control of ship path following combined with velocity and disturbance observers[J]. Journal of Shanghai Maritime University, 2021, 42(1): 19-25.
[3] 黄宠平, 邹早建, 贺宏伟, 等. 基于预测和粒子群的船舶避碰与路径跟踪控制[J]. 中国航海, 2023, 46(2): 125-134.
HUANG Chongping, ZOU Zaojian, HE Hongwei, et al. Path following and collision avoidance of under actuated ships based on model predictive control and modified particle swarm optimization[J]. Navigation of China, 2023, 46(2): 125-134.
[4] 王文新, 刘上, 张国庆, 等. 考虑舵机故障的船舶鲁棒自适应航向保持控制[J]. 中国舰船研究, 2023, 18(1): 116-123.
WANG Wenxin, LIU Shang, ZHANG Guoqing, et al. Robust adaptive course-keeping control of under-actuated ships with the rudder failure[J]. Chinese Journal of Ship Research, 2023, 18(1): 116-123.
[5] KIM D, TEZDOGAN T. Cfd-based hydrodynamic analyses of ship course keeping control and turning performance in irregular waves. Ocean Engineering, 2022, 48(15): 22-29.
[6] 张显库, 洪皓辰. 基于非线性修饰和零阶保持器的船舶航向保持控制[J]. 中国舰船研究, 2024, 19(1): 84-89.
ZHANG Xianku, HONG Haochen. Design of ship course keeping controller based on zero-order holder and nonlinear modification[J]. Chinese Journal of Ship Research, 2024, 19(1): 84-89.
[7] 谢鸿伟, 张英俊, 邢胜伟, 等. 基于模型预测控制的船舶自主避碰方法[J]. 船舶工程, 2021, 43(8): 23-28+95.
XIE Hongwei, ZHANG Yingjun, XING Shengwei, et al. A method for ship autonomous collision avoidance based on model predictive control[J]. Ship Engineering, 2021, 43(8): 23-28+95.
