智能船舶循迹控制方法研究

Research method for path following of intelligent ship

针对实际工程应用中,智能船舶循迹控制如何在外界环境干扰下减小横向偏差以及如何在曲线循迹中平缓转弯处的控制力两种问题,提出了一种改进时变积分视线法(ILOS)引导律,用以减小横向偏差;设计了一种基于动态面控制技术的自适应反步积分控制器,用以平缓转弯处的控制力.通过与传统ILOS引导律结合传统反步积分控制器的控制方法进行仿真对比,验证了改进控制方法对减小横向偏差及平缓转弯处控制力的有效性.

In response to two questions,that how to reduce the cross-track errors of the intelligent ship path following under the disturbance of the external environment and how to smooth the control force at the turning point when using the shortest straight-circle path in practical engineering applications,an improved time-varying integral line-of-sight(ILOS) guidance law was proposed to reduce the cross-track errors.An adaptive back-stepping integral controller based on dynamic surface control technology was designed to smooth the control force at the turning point.Through simulation comparison with the control method of traditional ILOS guidance law combined with traditional backstepping controller,the effectiveness of the improved control method to reduce cross-track errors and smooth the control force at the turning point was verified.