传统的陷波滤波器虽然能够很好的滤除一阶高频海浪波，但是滤波的同时也使得信号产生了相位滞后，在时域里面的表现就是信号的延时。卡尔曼滤波器虽然能够解决这一问题，但是其非常依赖于船舶模型。本文针对传统陷波滤波器的缺陷，使用了一种积分补偿型陷波滤波器，对传统的陷波滤波器进行改进。并以某拖轮为仿真对象进行仿真实验，其结果表明，该滤波器不但能够很好的滤除高频海浪波，还能够保持很好的相位特性。同时，递推的最小二乘估计（RLS）方法能够实时的估计出海浪的主导波频，使得陷波滤波器具有很好的自适应性。
Although the traditional notch filter can filter out the 1st-order disturbances,it will also make the signal has a serious phase lag,whose performance in the time domain is the time delay.Kalman filter can solve the problem well,but it depends on the ship model very much.This paper aims at the defects of the traditional notch filter using a integral compensation notch filter,which can improve the traditional filter.A simulation experiment based on a tugboat shows this filter not only can well remove high frequency wave,but also can maintain good phase characteristics.At the same time,the Recursive least squares is used to estimate the dominant wave frequency,which makes the filter have better adaptability.
2017,39(10): 79-83 收稿日期：2016-04-26
DOI：10.3404/j.issn.1672-7649.2017.10.015
分类号：U661
基金项目：江苏高校高技术船舶协同创新中心/江苏科技大学海洋装备研究院资助项目（HZ2016006）
作者简介：樊冀生(1992-),男,硕士研究生,研究方向为船舶运动控制技术
参考文献：
[1] 边信黔, 付明玉, 王元慧. 船舶动力定位[M]. 北京:科学出版社, 2011.
[2] FOSSEN T I, PEREZ T. Kalman filtering for positioning and heading control of ships and offshore rigs[J]. IEEE Control Systems, 2009, 29(6):32-46.
[3] FOSSEN T I. Guidance and control of ocean vehicles[M]. Chichester, UK:John Wiley and Sons, 1994.
[4] 张贤达. 现代信号处理[M]. 北京:清华大学出版社, 1995. ZHANG Xian-da. Modern signal processing[M]. Beijing:Tsinghua University Press, 1995.
[5] LOUEIPOUR M, KESHMIRI M, DANESH M, et al. Wave filtering and state estimation in dynamic positioning of marine vessels using position measurement[J]. IEEE Transactions on Instrumentation and Measurement, 2015, 64(12):3253-3261.
[6] 齐国鹏, 俞孟蕻, 袁伟. 动力定位系统自适应滤波技术[J]. 舰船科学技术, 2013, 35(10):96-100. QI Guo-peng, YU Meng-hong, YUAN Wei. Research on adaptive filtering techniques in dynamic positioning systems[J]. Ship Science and Technology, 2013, 35(10):96-100.
[7] FOSSEN T I. Marine control systems-guidance, navigation, and control of ships, rigs and underwater vehicles[M]. Norway:Marine Cybernetics, 2002.
[8] TANNURI E A, BRAVIN T T, PESCE C P. Dynamic positioning systems:comparison between wave filtering algorithms and their influence on performance[C]//Proceedings of ASME 200322nd International Conference on Offshore Mechanics and Arctic Engineering. Cancun, Mexico:ASME, 2003:109-117.
[9] FA? H. Dynamic positioning systems principles, design and applications[M]. Paris:Editions Technip, 1990.
