摘要
这个工作的目的是为海洋的车辆自动驾驶仪设计的分析合成问题。尽管有为一个解决方案的众多的已知的方法，提及的问题由于某些动态条件，要求和限制的一张广泛的人口的存在是很复杂的，它必须被一条驾驶控制法律的适当选择满足。这份报纸的目的是简化合成的过程，提供精确的与控制系统的理想的动力学驾驶。这里建议的途径基于允许去耦的特殊统一多种用途的控制法律结构的用法合成进更简单的特别优化问题。特别地，这结构包括一个动态修正者在海波浪骚乱的行动下面为车辆鈥檚 运动支持理想的特征。作为结果，为修正者设计的一个专业化新方法被建议提供精确驾驶或在轮船的精确驾驶并且节俭的驾驶之间的一宗交易。这个方法担保关于航行的实际环境的控制法律的某个灵活性；它的相应拐弯处能在实时被认识到在上。
The objective of this work is the analytical synthesis problem for marine vehicles autopilots design. Despite numerous known methods for a solution, the mentioned problem is very complicated due to the presence of an extensive population of certain dynamical conditions, requirements and restrictions, which must be satisfied by the appropriate choice of a steering control law. The aim of this paper is to simplify the procedure of the synthesis, providing accurate steering with desirable dynamics of the control system. The approach proposed here is based on the usage of a special unified multipurpose control law structure that allows decoupling a synthesis into simpler particular optimization problems. In particular, this structure includes a dynamical corrector to support the desirable features for the vehicle＇s motion under the action of sea wave disturbances. As a result, a specialized new method for the corrector design is proposed to provide an accurate steering or a trade-off between accurate steering and economical steering of the ship. This method guaranties a certain flexibility of the control law with respect to an actual environment of the sailing;its corresponding turning can be realized in real time onboard.
基金
Partially supported by Russian Foundation for Basic Research(Research project No.14-07-00083a)
