本项目针对船舶操纵性包含的主要内容（小舵角下的航向保持性、中等舵角下的航向改变能力及大舵角下的回转性），对以舵为控制装置的船舶在波浪中的操纵与控制问题进行研究。采用运动学和非线性动力学分析、水动力建模与系统辨识建模、数值模拟、模型试验及实船试验等方法，对波浪中的船舶操纵运动进行建模与预报研究，分析船舶在波浪中的操纵性，并针对船舶在波浪中运动所具有的非线性、大时滞、动态时变等特性，设计预测控制器、反演控制器等智能控制器，通过最小化性能指标函数得到控制输入，对船舶进行航向保持、航向改变、路径跟踪和横摇抑制控制。通过本项目的研究，自主开发得到波浪中的船舶操纵运动数学建模方法及操纵性预报方法，得到具有较强自适应性、鲁棒性与快速性的船舶在波浪中保持航向、改变航向、跟踪根据波浪环境选择的最优路径和抑制横摇的智能控制器，以提高船舶海上运输的经济性和环保性，提高我国在绿色船舶设计和绿色航运领域的研究水平。

This project deals with the problems of ship manoeuvring and control in waves for ships with rudder as the control device, to study the ship manoeuvrability including the course keeping ability under small rudder angle, the course changing ability under moderate rudder angle and the turning ability under large rudder angle. Various methods such as the kinematics and nonlinear dynamics analysis, hydrodynamic modeling, system identification modeling, numerical simulation, model test and full scale trial are used for modeling and predicting the manoeuvring motion in waves and analyzing the ship manoeuvrability. Intelligent controllers such as predictive controller and back-stepping controller are designed according to the nonlinearity, large time delay and time-varying dynamics characteristics of ship motion in waves. The controls of course-keeping, course-changing, path-following and roll-stabilizing are realized by controlling input signals which are obtained by minimizing the performance index function. The goal of this research project is to independently develop the methods for modeling and predicting ship manoeuvring motion in waves, to design the intelligent controllers which are featured by their strong adaptability, robustness and rapidity and can keep or change the course, follow the path optimized according to the wave conditions and stabilize the roll motion of ships in waves effectively. It is expected that the economical efficiency and environmental protection level of marine transportation will be improved, and the research level of China in the area of green ship design and green shipping will be raised through this research project.