逆推-非线性阻尼算法在航向控制方法中的应用

Analysis of the inverse push-nonlinear damping algorithm in the heading control method

随着海上运输日益发展,对船舶操纵有了更高的要求。鉴于此,本文提出以逆推-非线性阻尼为基础的非线性船体控制。为了确保船舶中的闭合系统所有状态相同,将所设计的控制器应用于一个三自由度船舶模型进行仿真试验研究。这种方法能有效克服因外部风、波、电流和其他因素导致的系统失稳,闭环系统所有状态都受到统一约束。同时为了提高控制系统的鲁棒性,对控制器进行设计时还考虑到了船舶运动方程中未知参数和干扰项的影响,并以此为基础,应用新的积分方法进行积分,使得计算效率高。

With the continuous expansion of international trade scale, the transportation cost of raw materials and finished products has also increased sharply. In order to meet this demand, shipping has gradually developed into a major trade method. With the increasing development of marine transportation, the canal has become very congested, which has higher requirements for ship handling. In view of this, this paper proposes a nonlinear hull control based on reverse thrust-nonlinear damping. In order to ensure that all states of the closed system in the ship are the same, the designed controller is applied to a three-degree-of-freedom ship model for simulation test research. This method can effectively overcome system instability caused by external wind, wave, current and other factors. In this way, all states of the closed-loop system are subject to uniform constraints. At the same time, in order to improve the robustness of the control system, the influence of unknown parameters and disturbance items in the ship motion equation is also taken into account when designing the controller. And based on this, a new integral method is applied to integrate, which makes the calculation efficiency high.