一种船舶直线航迹控制算法及控制参数的设计

Design of control algorithm and control parameters for ship straight-line tracking controller

在船舶运动参数准确值未知的条件下,针对如何设计航迹控制参数,保证船舶航迹控制全局渐近稳定的问题,给出了船舶航迹控制参数的分析、设计和实验验证方法。首先,提出一种不直接包含船舶运动参数的船舶航迹状态反馈控制律。接着,通过稳定性分析获得了实现船舶航迹闭环系统全局渐近稳定的条件。然后,由该稳定条件给出了船舶航迹控制参数的分析、设计和实验方法。最后,对该方法进行了数字仿真,并应用到船舶航迹自动操舵仪装备中。实船应用结果证明了方法的可行性和有效性。

Under the condition that the accurate ship dynamic parameter values are unknown, aiming at the problem of how to design the tracking control parameters to ensure the global asymptotic stability of ship tracking control, the methods of analysis, design and experiment verification for ship tracking control are proposed. Firstly, a ship tracking state feedback control algorithm that does not directly contain the ship dynamic parameters is presented. And then the global asymptotical stability conditions of the ship tracking close-loop control system are obtained through stability analysis. Based on these stability conditions, the analysis, design and experiment methods for ship tracking control pa- rameters are achieved. The digital simulation of the proposed method was performed, the method was used in the ship tracking automatic pilot equipment;and the actual on ship application results show the feasibility and validity of the proposed method.