基于航迹偏差角和航向差的自航模运动轨迹控制方法研究

Study on Track Control Method for the Sail Mold Based on the Track Bias and Course Error

针对水面自航模运动轨迹传统控制方法的缺点,提出用航迹偏差角代替航迹偏差、航向差代替偏航角速度为输入变量的模糊控制方法。通过实船试验,与传统控制方法相比,改进后的控制方法操控性更强、轨迹波动更小。

Aiming to weakness of tradition control method from the sail mold,a new fuzzy control method was put forward with the track bias replacing the sail vestige deviation,course error replacing yaw rate to the importation for measuring.The results of ship trail indicated that comparing with the tradition control method,the improved control method can control the track more effectively,with smaller track undulate.