Chinese Journal of Ship Research, Volume. 20, Issue 1, 317(2025)
Ship path-following control method based on MPC-IMFAC
Figures & Tables(14)
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Table 1. The priciple paremeters of KVLCC2 model ship[14]
View tableView in ArticleTable 1. The priciple paremeters of KVLCC2 model ship[14]
参数 数值 缩尺比 1∶45.714 垂线间长Lpp/m 7 水线长Lwl/m 7.120 4 船宽Bwl/m 1.268 8 型深D/m 0.656 3 吃水d/m 0.455 0 方形系数CB 0.809 8 排水体积 $\nabla $ /m33.272 4 重心纵向坐标LCG/m 0.244 0 舵面积/m2 0.065 4 舵高h/m2 0.346 0
Table 2.
K ,T parameters of KVLCC2 model ship[17]View tableView in ArticleTable 2.
K ,T parameters of KVLCC2 model ship[17]参数 数值 参数 数值 T1/s 11.454 0 T3/s 3.838 2 T2/s 5.199 2 K/s−1 0.116 5
Table 3. MPC controller parameters
View tableView in ArticleTable 3. MPC controller parameters
参数 数值 预测时域Np 5 控制时域Nc 5 时间步长T/s 1 权重系数Q 250 权重系数P 0.2 权重系数W 0.05 最大控制量 $ {u}_{\mathrm{t}\mathrm{m}\mathrm{a}\mathrm{x}} $ /(°)35 最小控制量 $ {u}_{\mathrm{t}\mathrm{m}\mathrm{i}\mathrm{n}} $ /(°)-35
Table 4. IMFAC controller parameters
View tableView in ArticleTable 4. IMFAC controller parameters
参数 数值 参数 数值 ρ 2 $ \alpha $ 1.1 $ \lambda $ 16.5 ε 10−5 $ \eta $ 1 $ {u}_{\mathrm{c}\mathrm{m}\mathrm{a}\mathrm{x}} $ /(°)6 $ \mu $ 1.2 $ {u}_{\mathrm{c}\mathrm{m}\mathrm{i}\mathrm{n}} $ /(°)−6
Table 5. Specific sea conditions of simulation study
View tableView in ArticleTable 5. Specific sea conditions of simulation study
工况 工况类型 仿真实验类型 1 突发干扰 航迹控制 2 时变干扰 航向控制 3 时变干扰 航迹控制
Table 6. Statistics of path-following control effects under sudden disturbance
View tableView in ArticleTable 6. Statistics of path-following control effects under sudden disturbance
算法 平均舵幅/(°) 平均绝对航向 误差/(°) 最大绝对航向 误差/(°) MPC 10.32 9.80 24.25 MPC-IMFAC 10.43 7.95 18.73
Table 7. Statistics of course control effects under time-varying disturbance
View tableView in ArticleTable 7. Statistics of course control effects under time-varying disturbance
算法 平均舵幅 /(°) 干扰下40 s 后平均绝对航向 误差/(°) 干扰下40 s 后最大绝对航向 误差/(°) MPC 8.90 3.07 5.10 MPC-IMFAC 9.44 2.29 4.83
Table 8. Statistics of path-following control effects under time-varying disturbance
View tableView in ArticleTable 8. Statistics of path-following control effects under time-varying disturbance
算法 平均舵幅/(°) 平均航向绝对 误差/(°) 最大绝对航向 误差/(°) MPC 10.46 19.10 85.79 MPC-IMFAC 11.41 18.59 78.21
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Shijie LI, Taixu LIU, Jialun LIU, Chengqi XU, Jiawei HE. Ship path-following control method based on MPC-IMFAC[J]. Chinese Journal of Ship Research, 2025, 20(1): 317
Paper Information
Category: Motion Control
Received: Nov. 2, 2023
Accepted: --
Published Online: Mar. 13, 2025
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