基于航迹差和航向差的航迹自动控制算法

Track autocontrol algorithm based on track deviation and course deviation

从研究引起航迹偏差的原因入手,对航迹偏差进行相关数理分析,对航迹自动控制结构和算法进行分析和对比。通过对目前比较流行使用的航迹自动控制结构和算法的优缺点进行比较,提出一种新的基于航迹差和航向差的航迹自动控制算法。该算法结合航迹直接控制和航迹间接控制结构的优点,不需要精确的船舶运动模型,具有结构简单、各参数物理意义明确、参数易于调整、航迹控制精度高,操舵次数少等优点。该算法在20世纪末已成功应用在某小型艇的航迹控制上,在航向受风浪干扰幅值达到4°的海况下,仍能取得在全航线上的航迹控制偏差小于5 m,平均操舵次数少于1次/2 min的效果。

Starting with studying on the cause of the track deviation, have done the relative mathematical analysis for the track deviation and analyzed and compared the structure and algorithm of the track autocontrol. Through comparing these advantages and disadvanges of the track autocontrol structure and algorithm which be widely used in todays,put forward a new track autocontrol algorithm based on track deviation and course deviation. This algorithm has combined the advantage of the direct / indirect track control structure,need not any accurate ship motion model. And with the advantage of the simple structure,the definite physical meaning of parameters,parameters so easy to be adjusted,high track control precision and fewer steering frequency etc.. This algorithm has been successfully applied in the track control of a small boat in the end of the last century. Under the sea state of the course was interfered by the wind wave and the amplitude value had been reached to the 4 degree,still can achieve the effect that the track control deviation is less than 5 metets and the average steering frequency is less than 1 /2 minutes.