海流作用下自主航行船舶操控研究及应用

Research and Application in Control of Autonomous Navigation Ship under the Effect of Current

面对自主航行船舶的发展需求,建立船舶运动模型,同时根据Lyapunov稳定性方法以及级联系统理论设计一种海流影响下的轨迹追踪控制器。通过预定航线、航向与实际航线、航向的对比验证控制器的可靠性。对不同海流状况下自主航行船舶的螺旋桨转速与舵角变化进行分析,发现海流对螺旋桨转速的影响比对舵角的影响更为明显。海流不但影响螺旋桨的转速变化幅值而且也影响转速的变化周期。海流强度越大、周期越长,螺旋桨转速的变化幅值也就越大。此外,随着海流的周期性变化,螺旋桨转速也会出现相同周期的响应。

A ship motion model was established for the development of autonomous navigation ship. The Lyapunov stability method and cascade system theory were used to design a trajectory tracking controller under the effect of current. The reliability of the controller was verified by comparing the scheduled route and course with the actual route and course. Theautonomous ship’s changes of propeller speed and rudder angle under different current conditions were analyzed. It was found that the influence of current on propeller speed is more obvious than that of rudder angle.The current not only affects the amplitude of propeller speed,but also affects the change period of speed. If the current intensity is larger or the period is longer,the variation amplitude of propeller speed will be bigger. In addition,with the periodic change of current,the propeller speed will also appear same period response.