基于闭环增益成形算法的船舶航迹保持控制

Ship Track-Keeping Control Based on Closed-Loop Gain Shaping Algorithm

为进一步提高船舶自动化水平,完善船舶综合型航迹保持控制器设计方法,以船舶线性化小扰动运动方程为基础,通过构建计划航线坐标系、惯性坐标系和附体坐标系,建立适用于船舶综合型航迹保持控制器设计的传递函数型设计模型。根据闭环增益成形算法在非方阵系统中的应用,提出一种简捷鲁棒综合航迹控制器,进一步利用非线性反馈技术提高该算法在航迹保持控制中的控制性能。基于"育鲲"轮进行仿真研究,结果验证了该方法的简捷有效性。

In order to improve the design of the integrated track-keeping controller for marine vehicles,the mathematical model,suited to the integrated track-keeping controller design,is constructed based on the small perturbation assumption.The related coordinate systems include the inertial frame,the reference route frame and the hull oriented one.The concise robust track-keeping control law is achieved by employing the closed-loop gain shaping algorithm,which is capable of dealing with the non-square matrixes.The nonlinear feedback technique is used to further improve the system performance.Simulation is performed based on the ＂ YUKUN＂ vessel.The effectiveness and neatness of this algorithm are verified.