基于滤波技术的船舶航向控制研究

Research on course signal filtering based ship heading control

当海况较高时,海浪干扰力矩远大于船舵控制力矩,通过操舵很难减小航向偏离幅度,导致无效操舵次数增加。本文采用航向滤波的方法对航向信号进行处理,滤除海浪干扰主值频段对航向控制系统的影响,减少航向控制系统对海浪干扰主值频段的响应,从而减少无效操舵,降低舵机能量消耗和磨损。

The disturbance torque of ocean wave is much larger than that of a rudder, so it is difficult to reduce yaw angle with rudder control and then the number of noneffective rudder will increase in the case of high ocean wave. We employ a course filter to process yaw angle of a course and reduce the impact of main value frequency of ocean wave on a heading control system. The filter will reduce the response of a heading control system to wave disturbance and then reduce the number of noneffective rudder. This will reduce the energy consumption and wearout of a steering,