基于指数函数非线性反馈的船舶航向保持控制

Ship Course Keeping Control Based on Nonlinear Feedback of Exponential Function

为研究船舶航向保持控制问题,以"育鹏"轮为研究对象,建立其非线性Nomoto船舶模型,设计基于闭环增益成形算法的指数函数非线性反馈控制器,并以"育鹏"轮的非线性模型为被控制对象,用Matlab的Simulink工具箱进行系统仿真研究。仿真结果表明:建立的非线性Nomoto数学模型精度良好,设计的控制器在进行船舶航向保持控制时效果优异,并且更节能。使用这种方法设计的控制器,可以很好地进行船舶航向保持控制,对今后的船舶运动仿真和控制器的设计具有重要意义。

In order to research the problem of course keeping control of ship, the 'Yu Peng' ship is treated as the research object. The nonlinear Nomoto ship model is established, and an exponential function nonlinear feedback controller based on closed loop gain shaping algorithm is designed. Taking the nonlinear model of 'Yu Peng' as the control object, it carries out the simulation by using Simulink toolbox of Matlab. The simulation results show that the nonlinear Nomoto model has good accuracy; the designed controller has good performance, and it is more efficient. Using the method to design the controller can not only carry on the ship course keeping control well, but also has the important significance to the future ship motion simulation and the design of the controller.