On broaching-to prevention using optimal control theory with evolution strategy (CMA-ES)
On broaching-to prevention using optimal control theory with evolution strategy (CMA-ES)
复制标题
使用进化策略的最优控制理论（CMA-ES）进行预防
DOI：
10.1007/s00773-020-00722-9
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发表时间：
2020
影响因子：
2.6
通讯作者：
Umeda Naoya
中科院分区：
文献类型：
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作者：
Maki Atsuo;Sakamoto Naoki;Akimoto Youhei;Banno Yuki;Maniyappan Sreenath;Umeda Naoya
横摇是一种不可控的操纵问题，可能发生在随浪和四分浪中，会引起大的横摇运动，有时会由于剧烈的偏航运动而倾覆，例如，Nicholson（Some Parameter Model Experiment to Investigate Broaching-to，pp 160-166，1974）.当船舶即使在最大操舵力的作用下也不能保持其所需航向时，便会出现横摇。以前的实验和数值模拟的broaching-to现象应用比例微分（PD）控制，不能提供最大的转向努力。为了最大化转向力，Maki等人（J Jpn Soc Nav Archit Ocean Eng 7：207-212，2008）和Maki等人（J Jpn Soc Nav Archit Ocean Eng 8：115-122，2008）的先前研究用最优控制理论取代了PD控制。船舶控制的情况下，当船舶开发大偏航运动，尽管最佳控制，进行了观察。然而，由于优化技术，如变分法是不够强大的解决这个高度非线性的问题，优化只能在局部最优。其目的是在全局范围内，在众多的局部最优解中寻找一个更好的局部解。为了实现这一目标，作者应用协方差矩阵自适应进化策略（CMA-ES），一个国家的最先进的算法在进化计算的导数免费连续优化。从而得到了防止横推的最优舵控制，并讨论了其特性。
Broaching-to, an uncontrollable maneuvering problem that may occur in following and quartering seas, can induce large roll motion and sometimes capsizing due to violent yaw motions, e.g., Nicholson (Some Parametric Model Experiment to Investigate Broaching-to, pp 160–166, 1974). Broaching-to arises when a ship cannot maintain its desired course even under maximum steering effort. Previous experiments and numerical simulations of the broaching-to phenomenon have applied proportional-derivative (PD) control, which cannot provide the maximum steering effort. To maximize the steering effort, the previous study replaced PD control by optimal control theory by Maki et al. (J Jpn Soc Nav Archit Ocean Eng 7:207–212, 2008) and Maki et al. (J Jpn Soc Nav Archit Ocean Eng 8:115–122, 2008). A case of the ship control, when the ship developed large yaw motions despite the optimal control, was observed. However, because optimization techniques such as the variational method were insufficiently powerful for solving this highly nonlinear problem, the optimization could be performed only around local optima. The aim is to globally seek a better local solution among the numerous local optima. To achieve this goal, the authors applied the Covariance Matrix Adaption Evolution Strategy (CMA-ES), a state-of-the-art algorithm in evolutionary computation for derivative-free continuous optimization. The optimal rudder control for preventing broaching-to is then obtained, and its characteristics are discussed.