含喷水式推进系统的船舶航行中，面临复杂海况干扰，给运动姿态精准控制带来挑战，为此研究基于喷水式推进系统的船舶运动姿态控制方法。构建含喷水式推进系统的船舶运动学模型，分析此类船舶运行状态与推力之间关系；估计船舶运动姿态估计，经二阶设定点滤波器预处理以平滑指令突变；对比指令与估计姿态分析姿态误差，生成基础推力控制量；此推力经一阶滤波器抑制高频波动后，结合海浪干扰前馈补偿，输出实际推力控制量，作用于喷水式推进系统以调整船舶姿态。实验结果表明，在不同航迹长度下，经该方法推力反馈调节后，船舶横摇角稳定在0.13～0.15°，与期望姿态的偏差显著缩小，有效抑制海浪等外部干扰引发的流场扰动。
When a ship with water-jet propulsion system is sailing, it faces complex sea state interference, which brings challenges to the precise control of motion attitude. Therefore, a method of ship motion attitude control based on water-jet propulsion system is studied. The kinematics model of ship with water jet propulsion system is constructed, and the relationship between the running state and thrust of this kind of ship is analyzed. Estimate the ship′s motion attitude, and preprocess it with a second-order set-point filter to smooth the command mutation; Comparing the command with the estimated attitude to analyze the attitude error and generate the basic thrust control quantity; After the high-frequency fluctuation of this thrust is suppressed by the first-order filter, combined with the feedforward compensation of ocean wave interference, the actual thrust control quantity is output and applied to the water-jet propulsion system to adjust the attitude of the ship. The experimental results show that, under different track lengths, after the thrust feedback adjustment by this method, the ship rolling angle is stable at 0.13～0.15, and the deviation from the expected attitude is significantly reduced, which effectively suppresses the flow field disturbance caused by external interference such as waves.
2025,47(18): 171-174 收稿日期：2025-3-15
DOI：10.3404/j.issn.1672-7649.2025.18.028
分类号：TP391
基金项目：陕西省重点产业创新链项目（2021ZDLSF06-07）；陕西省自然科学基础研究项目（2022JM-383）
作者简介：张琦（1983 – ），女，硕士，讲师，研究方向为控制理论与控制工程
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