船舶自适应逆控制操舵

Ship Manoeuvring Based on Adaptive Inverse Control

经典反馈控制将对象动态响应的控制和噪声的消除放在同一个过程中进行,这种方法往往会产生为了 满足一个指标而牺牲另外一个指标的矛盾。本文介绍了一种新的控制方法--自适应逆控制,阐述了自适应 逆控制的特点,讨论了自适应逆控制系统的三个基本单元--对象建模、逆控制器建模和扰动消除器。自适 应逆控制将对象动态响应的控制和噪声的消除分开来考虑,解决了上述经典反馈控制的矛盾。在仿真软件 Matlab上进行船舶自动舵仿真时,分别采用了自适应逆控制方案的ELS(增广最小二乘)算法和经典反馈控 制的PID(比例积分微分)算法。仿真结果表明了自适应逆控制的优点。

The classical feedback control usually processes both the request of object's dynamic response and the request of noise elimination by using feedback. But in the classical feedback control, if one request is satisfied, the other will suffer. In order to resolve the problem, a new control method called as adaptive inverse control and its characteristics are introduced in this paper. The three main aspects of the adaptive inverse control--object model, inverse controller model and noise elimination are discussed. The adaptive inverse control processes separately the request of the object's dynamic response and the request of noise elimination, therefore the conflict foregoing above can be easily resolved. Though feedback is also used in this adaptive inverse control, this feedback is not the same as the feedback in the classical feedback control. In the adaptive inverse control, feedback does not infect the signal's flow in the control system and it is just used to adapt the parameters of the system. The adaptive inverse control algorithm ELS (Extend Least Squares) and the classical feedback control algorithm PID (Proportional-Integral-Differential) are used to simulate ship automatic rudder using Mat-lab. The simulation results show that the adaptive inverse control can achieve a better result than the calssical feedback control, both in the respect of object's dynamic response and the respect of noise e-limination.