基于视线制导和PID控制的欠驱动船舶首摇抑制策略研究

Research on yaw suppression of underactuated ship based on line-of-sight guidance and PID control

大型船舶过弯时,若首摇方向与期望航向相反,由于首摇惯性会使船舶失控。对此,提出一种欠驱动船舶的首摇抑制策略,首先建立船舶水平面三自由度模型,利用视线制导将欠驱动船舶的路径跟踪问题转化为航向控制问题,通过在PID控制中添加首摇抑制项,设计基于视线制导和PID控制的首摇抑制器。仿真结果表明,提出的策略同时适用于直线和曲线航段,能有效减小过弯时船舶的最大垂向误差(49.8%)、平均垂向误差(56.2%)、最大航向角误差(43.6%)和平均航向角误差(42.9%),提高路径跟踪精度,可降低首摇角速度和舵角的变化幅度,具有一定的应用价值。

When a large ship is cornering,if the direction of yaw is opposite to that of the desired course,the ship will be out of control due to the inertia of yaw.Aiming at this problem,this paper proposes a yaw suppression strategy.Firstly,a 3-DOF horizontal plane model of the underactuated ship is established.Then,the line of sight(LOS)method is used to transform the path tracking problem into the course control problem of the underactuated ship.By adding a yaw suppression item into PID control,a yaw suppression controller based on line of sight guidance and PID control is designed.The simulation results show that the proposed strategy is suitable for both straight and curved segments,and can effectively reduce the maximum vertical error(49.8%),average vertical error(56.2%),maximum course angle error(43.6%),average course angle error(42.9%)of the ship during cornering and improve the path tracking accuracy,it can also reduce the change in angular velocity of yaw and rudder angle,which has certain application value.