船舶操纵自适应控制

Adaptive Control of Ship Manoeuvring

本文以３５０００吨油轮为对象．对自适应控制理论用于船舶操纵控制作了研究，利用船舶操纵运动的一阶Ｋ—Ｔ模型．用广义最小二乘递推算法对模型参数进行辨识．对船舶运行中随机有色噪声干扰下提出了最小方差跟踪控制方案．在ＰＣ机上对船舶操纵控制进行了仿真．并对仿真结果作了分析．

Describe the application of adaptive control technique to manoeuvring of an oil taker. It uses Minimum Variances (MV) control theme. With the aid of Nomoto model and RGLS method,the MV controller is designed. Simulation results presented indicate that MV controller would result in the decrease of the yaw angle variance of ship.