基于LOS的动力定位船舶变速循迹控制

Variable Speed Tracking Control of Dynamic Positioning Ships Based on LOS

循迹控制是动力定位船舶主要的控制模式之一.针对目前船舶循迹控制中要求速度保持恒定而无法快速消除横向偏差的问题,将横向偏差和速度控制同时考虑到控制器设计中,提出一种基于LOS(line-of-sight)的船舶变速循迹控制.控制器设计分为两步,首先运用状态反馈和反步法分别计算出船舶的加速度,再利用最小二乘法对船舶的加速度进行估计,在此基础上得到最终的控制律,使得船舶能够根据横向偏差及其变化率调整速度,更快速地达到预设路径.通过仿真与传统LOS引导律对比,验证了所提出的方法的有效性.

Tracking control is one of the main control modes of dynamic positioning ships.Aiming at the problem that the current ship tracking control requires constant speed and cannot quickly eliminate lateral deviation,a variable speed tracking control for ships based on LOS was proposed.The lateral deviation and speed control were taken into consideration in the controller design at the same time.The controller design was divided into two steps.Firstly,the state feedback and backstepping were used to calculate the acceleration of the ship respectively.Then the least square method was used to estimate the acceleration of the ship.The final control law enables the ship to adjust its speed according to the lateral deviation and its rate of change,which makes the ship reach the preset path more quickly.The validity of the proposed method is verified by comparing the simulation results with the traditional LOS guidance law.