一旦遇到大风、海浪等恶劣天气，无人船很容易受到影响，发生非线性运动，若不能及时实施稳定性控制，很容易发生翻船事故。针对上述问题，研究一种基于分数阶微积分的无人船运动非线性数学控制模型。该研究中描述无人船6种类型非线性运动，即纵荡，横荡，垂荡，横摇，纵摇和首摇；通过各种设备采集船舶运动参数，明确无人船状态；结合分数阶微积分函数以及算子，建立无人船运动非线性数学控制方程并求解，得出x轴、y轴和z轴3个方向上的控制量，完成控制模型构建。结果表明：与基于神经网络的控制模型、基于反馈线性化的控制方法以及模糊控制系统相比，所构建模型应用下，减摇和减荡效果更强，能够保证船舶在大风、大浪情况下的稳定性。
In case of severe weather such as strong wind and waves, the unmanned ship is easy to be affected and nonlinear motion occurs. If the stability control cannot be implemented in time, it is easy to capsize. To solve the above problems, a nonlinear mathematical control model of unmanned ship motion based on fractional calculus is studied. In this study, six types of nonlinear motions of unmanned ship are described, namely surge, sway, heave, roll, pitch and yaw. Collect ship motion parameters through various equipment to clarify the state of unmanned ship. Combined with fractional calculus function and operator, the nonlinear mathematical control equation of unmanned ship motion is established and solved, the control quantities in three directions of x-axis, y-axis and z-axis are obtained, and the control model is constructed. The results show that compared with the control model based on neural network, the control method based on feedback linearization and fuzzy control system, the model has stronger anti rolling and anti surge effect, and can better ensure the stability of the ship in strong wind and big waves.
2022,44(7): 78-81 收稿日期：2021-09-19
DOI：10.3404/j.issn.1672-7649.2022.07.015
分类号：TP35.62
作者简介：赵鑫峪(1998-),女,硕士,研究方向为数学学科教学
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