中国舰船研究2025，Vol.20Issue(1)：47-57,11.DOI:10.19693/j.issn.1673-3185.04029
规则波中船舶操纵运动预报的灰箱建模研究
Prediction of ship maneuvering motion in regular wave with gray-box modelling
摘要
Abstract
[Objectives]Aiming at the requirements of the real-time and accurate prediction of ship maneuv-ering motion,this paper investigates the prediction of ship maneuvering motion in regular waves using gray-box modelling to improve the accuracy.[Methods]A maneuvering motion equation is proposed to reveal the known movement mechanism.The hydrodynamic forces in calm water are approximated using the Taylor series expansion,and the second-order steady wave drift forces are estimated using empirical formulas,thereby obtaining the mathematical model for predicting ship maneuvering motion in regular waves.To pro-mote the precision of the hydrodynamic expression,the Fourier transform method is adopted to separate the data of the maneuvering and seakeeping motions.A model for hydrodynamic correction and second-order steady wave drift forces is developed on the basis of the maneuvering motion and deep neural network(DNN)data,then submitted into the mechanistic equation of maneuvering motion.Finally,an gray-box modelling in-corporation mechanism and data for predicting ship maneuvering motion in regular waves is established.[Results]Taking the Office of Naval Research Tumblehome(ONRT)as an example,the maneuvering mo-tion is predicted with the adoption of the mathematical model and gray-box model respectively.For all simu-lated cases,the simulation of the unit time step costs 2-3 ms on average,and the average error between the res-ults of the gray-box model and experiments is 94.83%,with the accuracy promoted by an average of 4.50%compared with the mathematical model.[Conclusions]Gray-box modelling can be recognized as an effi-cient method for predicting ship maneuvering motion,laying a foundation for the real-time prediction of man-euvering motion in real marine environments.关键词
船舶/操纵性/操纵运动/灰箱建模/多层神经网络/傅里叶变换/ONRTKey words
ships/maneuverability/maneuvering motion/gray-box modelling/multilayer neural net-works/Fourier transforms/ONRT分类
交通工程引用本文复制引用
韩阳,郝立柱,师超,潘子英,鲁江,顾民..规则波中船舶操纵运动预报的灰箱建模研究[J].中国舰船研究,2025,20(1):47-57,11.基金项目
国家部委基金资助项目 （）
