Chinese Journal of Ship Research, Volume. 19, Issue 5, 87(2024)
Event-triggered synchronization anti-disturbance control method for ship replenishment
Figures & Tables(10)
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Table 1. Saturation limits of thrusters in surge, sway and yaw
View tableView in ArticleTable 1. Saturation limits of thrusters in surge, sway and yaw
方向 参数 数值 纵荡 力的饱和上限 $ {\tau _{1\max }} $ /kN10 力的饱和下限 $ {\tau _{1\min }} $ /kN−10 横荡 力的饱和上限 $ {\tau _{2\max }} $ /kN10 力的饱和下限 $ {\tau _{2\min }} $ /kN−10 艏摇角 力矩饱和上限 $ {\tau _{3\max }} $ /(kN·m−1)300 力矩饱和下限 $ {\tau _{3\min }} $ /(kN·m−1)−300
Table 2. Design parameters and initial conditions
View tableView in ArticleTable 2. Design parameters and initial conditions
参数类别 参数 数值 触发阈值 $\gamma $ $5 \times {10^4}$ $\underline{\gamma } $ $6 \times {10^4}$ $\gamma '$ 5 设计参数 $\sigma $ $10$ ${{\boldsymbol{K}}_1}$ ${\text{diag}}\left( {0.03,0.03,0.03} \right)$ ${{\boldsymbol{K}}_2}$ ${\text{diag}}\left( {8 \times {{10}^3},8 \times {{10}^3},8 \times {{10}^6}} \right)$ ${{\boldsymbol{K}}_\xi }$ ${\text{diag}}\left( {1 \times {{10}^3},1 \times {{10}^3},1 \times {{10}^6}} \right)$ ${{\boldsymbol{K}}_{\text{s}}}$ ${\text{diag}}\left( {1 \times {{10}^3},1 \times {{10}^3},1 \times {{10}^6}} \right)$ ${{\boldsymbol{K}}_0}$ ${\text{diag}}\left( {20,20,20} \right)$ Q ${\text{diag}}\left( {10,10,10} \right)$ 初始位置 ${{\boldsymbol{\eta }}_{\text{f}}}\left( 0 \right)$ ${\left[ {{\text{0 m}},{\text{0 m}},{{\text{0}}^{\circ}}} \right]^{\text{T}}}$ 初始速度 ${{\boldsymbol{\upsilon }}_{\text{f}}}\left( 0 \right)$ ${\left[ {0 {{\text{ m}}/ {\text{s}}},0 {{\text{ m}} /{\text{s}}},0 {{^ \circ } / {\text{s}}}} \right]^{\text{T}}}$ 时间矩阵 T ${\text{diag}}\left( {1\;000,1\;000,1\;000} \right)$ 幅值矩阵 ${\boldsymbol{\varPsi }}$ ${\text{diag}}\left( {400,400,4\;000} \right)$
Table 3. Tracking errors of supply ship
View tableView in ArticleTable 3. Tracking errors of supply ship
补给船与虚拟航迹跟踪误差 补给船与被补给船跟踪误差 ${x_{\text{r}}} - {x_{\text{f}}} = 0.039$ ${x_{\text{l}}} - {x_{\text{f}}} = 4.84$ ${y_{\text{r}}} - {y_{\text{f}}} = {0.357\;}7$ ${y_{\text{l}}} - {y_{\text{f}}} = 59.44$ ${\psi _{\text{r}}} - {\psi _{\text{f}}} = {0.000\;}7$ ${\psi _{\text{l}}} - {\psi _{\text{f}}} = {0.000\;}7$
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Xin HU, Qingtao GONG, Guibing ZHU, Guojie HAN, Yuan WANG. Event-triggered synchronization anti-disturbance control method for ship replenishment[J]. Chinese Journal of Ship Research, 2024, 19(5): 87
Paper Information
Category: Ship Design and Performance
Received: Jul. 3, 2023
Accepted: --
Published Online: Mar. 14, 2025
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