高速三体无人搜救船航向控制系统建模与仿真

Modeling and Simulation of the Course Control System for Unmanned High-speed Search and Rescue Trimaran

高速三体船是近年来研究开发的新型船型,具有优良的耐波性和稳性,其超高速船体型线可大大减少高速航行时的兴波阻力。由于该船的操纵性极其复杂,其航向控制建模是目前尚未完全解决的一个关键问题。在分析了三体船动力学方程的基础上,根据二阶野本模型对三体船进行了数学建模,并给出了各水动力导数的计算方法。在Matlab/Simulink环境下建立了高速三体船航向控制系统动态仿真模型,设计了航向模糊PID控制器。针对无干扰和综合干扰条件下分别进行了仿真分析,并对控制策略进行了静、动态性能验证。仿真结果表明,控制系统具有响应速度快、精度高、抗干扰等特点,相比常规PID控制算法,模糊PID控制具有更好的控制效果。研究结果为高速三体无人船操纵控制系统的分析与设计提供了新的思路。

The high-speed trimaran is a new ship type,which has good characteristics of seakeeping and stability.For the complexity of ship maneuverability,the course control model is a key issue in the maneuverability and this becomes a research focus recently.Based on the kinetic equation for trimaran,the mathematical model is established according to the second-order Nomoto model.Then the calculation method of hydrodynamic coefficients is elaborates.Moreover,the simulation model of course control system is established in a Matlab/Simulink.The fuzzy PID control algorithm is given.According to non-interference and comprehensive interference conditions,the staticand dynamic performances of the control strategy were simulated and verified.The results show that the system has fast response speed,high accuracy,and stronger anti-interfere ability.The fuzzy PID has better control effect than the conventional PID.The proposed method offers a new thought way for analyzing and designing control system of high-speed trimaran.