船舶轨迹跟踪研究综述

Review on the Study of Dynamic Tracking for Surface Ships

船舶轨迹跟踪属于广义上的船舶动力定位,具体来说,是船舶在规定的时间内通过轨迹跟踪系统的控制到达原本设定的位置上。回顾近十几年来船舶轨迹跟踪的研究成果,对全驱动船舶与欠驱动船舶研究做了详细的阐述,包括理论分析、数值计算和实验验证等。轨迹跟踪运动模型保持非线性,还考虑附加质量、科氏力和向心力、非线性阻尼以及风浪流外载荷等。船舶的控制系统非常复杂,是轨迹跟踪的关键核心,从反步法到自适应反步法、全状态反馈、输出反馈、滑模控制再到神经网络控制,对船舶轨迹跟踪的控制效果越来越好。轨迹跟踪的稳定性也是研究重点,用李雅普诺夫方法来保证轨迹跟踪效果的稳定。最后,指出目前船舶轨迹跟踪的主要研究方向,为进一步研究作参考。

Dynamic tracking （DT） is a kind of dynamic positioning （DP） in a broad sense, and it is often employed to enable the ship to reach its required position within a limited time. In this paper, main interest is placed on research achievements of DT. Both full-actuated ships and under-actuated ships are elaborated in respects of theoretical method, numerical simulation and experimental validation, etc. Unlike DP system, the motion equations of DT must be still nonlinear. Meanwhile, added mass, Coriolis and centripetal forces, nonlinear damping and the disturbances due to wind, current and wave etc. should also be considered. Being complex, nonlinear control system can be designed by methods from backstepping to adaptive baekstepping, full state feedback, output feedback, sliding mode control and neural network control with performance of DT becoming better and better. In general, Lyapunov stability theory is used to study the control stability of the DT. This paper is beneficial to further study of DT.