基于外界扰动的船舶航向保持控制器设计

External Disturbance-based Course-keeping Control Design

船舶航向保持控制在海洋工程中具有重要的运用,为了设计简捷的控制器来实现船舶航向保持任务,本文以大连海事大学科研实习船“育鹏”轮为研究对象,对其建立考虑外界干扰的非线性Nomoto数学模,以建立非线性数学模型为控制对象,设计PID航向保持控制器,用MATLAB旋回试验验证了所建立的非线性数学模型的有效性,两个仿真对比实验验证了建立的非线性Nomoto数学模型相比于线性Nomoto数学模型在所设计PID控制器的控制下,具有良好的控制效果且舵机能量耗损较小.

Ship course keeping control has important application in ocean engineering.In order to design a simple controller to realize the ship course keeping task.The"YU PENG"ship is selected as the research object in this note.The nonlinear Nomoto mathematical model is established considered the marine environment disturbance.And taking the nonlinear model of"YU PENG"as the control object,a PID course-keeping controller is designed.The effectiveness of the nonlinear ship model is demonstrated via the ship turning test.Finally,two simulation experiments have been employed to illustrate that the nonlinear ship model can achieve the satisfied performance and energy friendly via the proposed control law,compared with the linear ship model.