| The ship will be affected by various of factors,such as wind,waves while its sailing in the ocean.Under these influences the roll of the ship will produce become larger inevitably,which is closely related with the sailing safety,energy saving,stability and the labor saving for ship pilots.And it may lead to overturning a serious threat to the safety of navigation of the ship.Becaous of these affects of these things the unstable operation of the helm angle and the substantial operation difference,this paper proposes a solution to the defects by combining the system recognition of support vector machine with the basic algorithm of the generalized predictive control to manipulate the ship navigation and orientation in order to achieve the expected result.The following is the content of this article.The main content of this article is how to reduce the ship rolling,by using the PID control and the generalized predictive controller.The PID controller parameters by the algorithm is simple and clear physical meaning,reliable operation,selection of design uses two PID controller in controller design,through the output of a rudder angle to control the rolling and yawing,so as to reduce the roll and keep heading two effects.Rolling by finite prediction horizon generalized predictive control in GPC computing ideas and feedback and prediction correction,optimization of performance indicators of a computing system to determine the optimal control in a time domain control sequence,so the generalized predictive control to design the anti rolling heading controller,using Calman filtering method to obtain the state estimation.Proposed the two optimization rudder angle and velocity constraints are calculated based on the control capacity to reduce the effect of control rolling.The two kinds of controller were simulated respectively under different environment,and proof that the GPC controller is better than the PID ones.Finally,the last part draws the conclusion and shows the developing trend. |
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