Research on the ship's headng control based on DMPC
In order to solve the problems of large heave when the ship is maneuvering strongly at high speed and fre-quent steering under high sea conditions,based on the theory of Discrete Model Predictive Control(DMPC),a course man-euvering control strategy is proposed based on steering rate and rudder Angle speed constraints,the maximum roll during high speed steering is limited by controlling the course rate during steering.Aiming at the wave disturbance characteristics,a linear DMPC controller form was obtained by ignoring the constraint condition of angle of rudder and of speed rudder,and an auxiliary filter was introduced to correct the frequency response characteristics of the controller in the wave disturbance frequency band,and the purpose of reducing invalid steering is achieved.The simulation data show that the proposed head-ing control algorithm based on the inner-loop heading rate can effectively solve the large roll problem when the ship is man-euvering at high speed,the introduction of the auxiliary filter can effectively reduce the frequency of steering under the dis-turbance of sea waves,and significantly improve the stability and safety of the ship when it is fast maneuvering.
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