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Abstract: Reduction of roll and pitch motions is critical in improving the safety and operability of a ship. In this paper, a predictive controller for a ship equipped with two pairs of active fins is proposed for joint pitch-roll stabilization. The proposed controller is developed on the basis of ship motion and hydrodynamic force prediction (SMHFP). The SMHFP controller consists of a short-term predictor, a force estimator, and a fin angle allocator. The short-term predictor adopts an autoregressive (AR) approach and serves to forecast ship motions. Then, predicted ship motions are used in an external hydrodynamic force estimator to evaluate the expected stabilizing forces. Finally, the optimal attack angles for active fins are allocated based on external hydrodynamic forces forecasts. The control system of the stabilizing fins and SMHFP controller is integrated into the sea-keeping program. The program was developed based on a weakly nonlinear 2.5D method, which shows better efficiency and accuracy compared with conventional 2D and 3D methods. To evaluate the performance of the proposed controller, numerical simulations of the joint pitch-roll stabilization under various sea states were investigated on a ship model. The results suggest that the SMHFP controller shows satisfactory performance in reducing pitch and roll motions simultaneously.

In this paper, a predictive controller for a ship equipped with two pairs of actives fins is proposed for joint pitch-roll stabilization. The controller is developed base on ship motion and hydrodynamic force predictions (SMHFP). SMHFP controller consists of a short-term predictor, an external hydrodynamic force estimator and a fin angle allocator. Short-term predictor basing on AR approach serves to overcome control time delay by forecasting ship motions in coming seconds. Afterwards, predicted ship motions are applied in external hydrodynamic force estimator to provide accurate evaluation of the coming external forces acting on the ship. Finally, optimal attack angles for active fins are allocated based the external hydrodynamic forces forecasts. SMHFP controller was integrated into a sea-keeping assessing computer program which adopts a weakly nonlinear 2.5D method, which shows better efficiency and accuracy compared to conventional 2D and 3D methods. Numerical simulations under various sea states were implemented to access the performance of SMHFP controller with satisfied performance in reducing pitch and roll motions simultaneously. The topic is very interesting, the contribution is significant, and the results are positive.

一种用于船舶纵-横联合减摇的预测控制器

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