The rolling and the horizontal motion of ship are coupled intensely . meanwhile , the coupling motion is often presented as non - linear function according to experiment results and the ship is usually disturbed by sea wave when it cruises 船舶的横摇运动与水平面运动是强烈耦合的，而这种相互耦合的运动根据试验数据往往被拟合为非线性函数的形式，同时船舶在海上运动又会受到海浪的干扰作用。
The sliding mode controller with the line - of - sight ( los ) guidance is adopted for the rudder control to steer the ship in waves with the functions of track keeping and roll reduction , in which the design parameters are optimized from genetic algorithm 配合los导引的滑动模式控制器是以操舵控制的方式，使船只在波浪中的航迹能维持在既定航线并降低横摇量，而控制器的设计参数是以基因演算法来求得最佳化。
In addition , we should have not only the theoretical research on the controlled passively anti - rolling tanks , but also carry through performance test on them , which is necessary to study performance of the anti - rolling tank and predict ship ' s rolling motion 最后，对可控被动式减摇水舱的控制系统进行设计，除了进行理论研究外，进行减摇水舱模型性能试验是研究可控被动式减摇水舱性能、进行船舶横摇运动预报的不可缺少的步骤。
The airborne isar imaging of ship target depends on the ship ’ s rotation relative to the radar line of sight ( rlos ) . this rotation has two sources : one originates from the relative movement between the radar and the ship . the other comes from the ship sway ( roll , pitch and yaw ) 机载isar对舰船成像依靠舰船与雷达视线( rlos )之间的相对转动,它由飞机与舰船航行引起的相对运动和海浪作用下舰船自身摇摆(横摇、纵摇、偏航)产生的转动组成。
On the basis of cybernetics through forecast roll and pitch of a ship and by adjusting the object ' s space position and keep its horizontal state without limit of actual sea state according to the control rules with the predictive value of ship ' s roll angle and pitch angle 应用控制理论通过预测随机海浪扰动下船舶的横摇、纵摇运动的摇角值，按照所设计的控制规律实现在不受实际海况限制的情况下调整船上物体的空间位置，使此物体保持水平状态的目的。
It has been proved that this kind of tank is applicable of multifold boats , which not only reduces the roll angle and the heel angle , but also improves the efficient and fall the transport cost . the controlled passively anti - rolling tank can elevate the comfort and safe of the boats 实践表明，该水舱适用于多种类型船舶，不仅能减小船舶在波浪中的横摇和抵抗静倾角，还可以提高装卸效率，减少运输成本，为改善船舶的舒适性和安全性开辟了有效途径。
The moment of inertia , damp and comeback can be adjusted . two electro - hydraulic servo systems analog rolling moment and swaying force of wave respectively . the two systems both use electro - hydraulic servo valves , in which the analog rolling moment system adopts gear - rack swing hydraulic - pressure oil vat with torque sensor , while the analog swaying force system employs double shanks hydraulic - pressure oil vat with two pressure sensors and a placement sensor 两套电液伺服系统均使用流量电液伺服阀(采用外供油方式) ，其中模拟横摇力矩的伺服系统采用齿轮齿条摆动液压油缸，配有扭矩传感器，模拟横荡力的伺服系统采用双出杆液压油缸，配有两个压力传感器和一个位移传感器。
By the simulation results , it is verified to have excellent performance . a class of uncertain nonlinear systems which can be transformed into strict feedback nonlinear systems is investigated based on feedback linearization approach of differential geometry . an adaptive robust controller with l2 - gain is proposed by using backstepping technique . the numerical method is given and it is proved to be practical by simulation results . lt is a more practical method to solve hji for a special nonlinear system because the problem to solve hji is very difficult in general case , and only get the approximate solution when it can be solved . an effective method to solve hji is presented for a class of nonlinear system which is ordinary 考虑到一般情况下，求解hji是非常困难的，并且也只能得到近似解，因此，在系统设计时，针对具体非线性系统的特殊结构以求解hfl是系统设计的一种行之有效的方法，基于以上考虑，对一类具有广泛工程背景的非线性系统，提出了一种求解hfl的有效方法，便于实际应用。最后，从波能谱的角度，研究随机海浪的仿真问题，给出了船舶横摇仿真中需要的随机海浪有效波倾角的仿真方法。
This paper applies ittc single - parameter ocean wave spectrum to simulate a random long - crested ocean wave according to statistics superposition theory and real - time simulate disturbance on the ship by random wave . it simulates roll and pitch of the ship in random wave in the time domain and gains roll angle ( t ) and pitch angle ( t ) signal of ship rolling movement 本文根据统计叠加理论，采用ittc单参数标准海浪谱仿真模拟实际的长峰波随机海浪，进而实时仿真长峰波随机海浪对船舶的随机扰动，对船舶在海浪中的横摇和纵摇运动进行了时域仿真，得到船舶摇荡运动的横摇角信号( t )和纵摇角信号( t ) 。
The paper goes on test on rolling and swaying motion by regular waves and rolling by irregular waves , and investigates the anti - rolling performance of passive anti - rolling tank . the test validates the anti - rolling principle of passive anti - rolling tank and provides test data for designing and installing anti - rolling tank on ships in the future 最后论文作者利用所设计的水舱试验台架对规则波作用下的船舶横摇、横荡运行和不规则波下的横摇运动进行了试验，并对被动式减摇水舱模型的减摇性能进行了试验研究。
