基于跟踪微分器的靶船航向PD控制方法研究

The Research of PD Controll Method Based on the Tracking Differentiator for Course of a Target Ship

为解决靶船航向PD控制下的超调现象以及海上传感器噪声干扰的问题,提出了基于跟踪微分器的靶船航向PD控制方法。风、海流和二阶波浪引起靶船的低频运动,动力航向系统仅控制这部分的运动。根据靶船的运动规律,建立了靶船的运动学数学模型,以及风和海流的干扰力矩模型;为能够有效测量航向的微分信号以及对信号中噪声的抑制,阐述了跟踪微分器的原理,设计了基于跟踪微分器的PD控制律,分别针对PD控制器和基于微分器的PD控制器进行仿真,在仿真过程中采用加入了高斯白噪声的航向信号,结果表明,该方法消除了单纯PD控制下的超调现象,提高了控制精度。

In order to solve the overshoot of the target ship＇ s course under the PD controller and noise disturbance to sensors used in the sea,a PD controller for the target ship＇ s course based on the tracking differentiator was proposed. The kinematics model of the target ship was established. The disturbance torque model of wind and Ocean current were buitt. The principle of tracking differentiator was elaborated,and the PD controller based on tracking differentiator was designed. Adding Gauss white noise to the measurement of course signal,simulations were carried out for PD controller and TD controller respectively.