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在建立3自由度动力定位船舶的数学模型基础上,研究了滚动时域滤波方法在动力定位船舶控制系统设计中的应用。采用滚动时域优化的思想和FIR滤波器的结构,设计了优化滚动时域滤波器,并对某供应船分别在时不变和时变的质量矩阵和阻尼矩阵进行数值仿真。仿真试验比较了滚动时域滤波器和常用的Kalman滤波器的的滤波性能,验证了滚动时域滤波在对象模型参数不确定时具有的有效性和鲁棒性。
Based on the mathematical model of 3-DOF dynamic positioning ship, the application of rolling time-domain filtering method in the design of dynamic positioning ship control system is studied. Based on the idea of rolling time domain optimization and the structure of FIR filter, an optimized rolling time-domain filter is designed and numerical simulations are performed on a constant and time-varying mass matrix and damping matrix of a ship. The simulation experiment compares the filtering performance of the rolling time-domain filter and the commonly used Kalman filter and verifies the validity and robustness of the rolling time-domain filtering when the parameters of the object model are uncertain.