基于经验模态分解的动态定位波频运动提取评价

P. B. Garcia‐Rosa, Astrid H. Brodtkorb, A. Sørensen, M. Molinas
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引用次数: 1

摘要

在动态定位操作中,高频波引起的运动会导致过度的控制动作,从而导致推进系统中执行器的额外功耗和磨损。因此,这种操作只需要控制低频运动,这可以通过对高频运动进行适当的滤波来实现。本研究探讨了经验模态分解(EMD)方法在滤波中的应用。EMD是一种数据驱动的方法,它将振荡波形从最高频率到最低频率分解为许多模式。标准EMD算法中的分解过程依赖于整个数据跨度的重复迭代,这对于实时应用中的波滤波是不切实际的。因此,本文还考虑了一种在线EMD算法。在线分解过程具有时间滞后的特点,并且必须在重心之前的一点进行船舶运动测量,以便提前估计高频运动。在本研究中,通过与非线性被动观测器(NPO)的比较,评估了标准和在线EMD算法在波滤波和控制方面的性能。此外,在线EMD的时间滞后也令人感兴趣,因为它指示了所需的预测时间窗口。仿真结果表明,采用在线EMD滤波的控制效果比采用NPO滤波的控制效果低40%。
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Evaluation of wave-frequency motions extraction from dynamic positioning measurements using the empirical mode decomposition
For dynamic positioning operations, high-frequency wave induced motions cause excessive control action, and consequently additional power consumption and wear of actuators in the propulsion system. Thus, such operations require the control of only low-frequency motions, which is achieved by proper filtering of high-frequency motions. This study investigates the use of the empirical mode decomposition (EMD) method for wave filtering purposes. EMD is a data-driven method that decomposes an oscillatory waveform into a number of modes from the highest to the lowest frequency. The decomposition process in the standard EMD algorithm relies on repetitive iterations through the entire data span, which is impractical for wave filtering in real-time applications. Thus, an online EMD algorithm is also considered. The online decomposition process features a time lag, and measurements of the ship motions have to be taken at a point ahead of the center of gravity so that high-frequency motions are estimated in advance. In this study, the performance of both standard and online EMD algorithms, in terms of wave filtering and control efforts, is evaluated through a comparison with a nonlinear passive observer (NPO). Furthermore, the time lag of the online EMD is also of interest, as it indicates the required prediction time window. Simulation results with a simple maneuver of a vessel in moderate, and calm seas, show that the control action with wave filtering from the online EMD can be up to 40% lower than with wave filtering from NPO.
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