摘要
将舵角变化很小的船舶航行系统看成是一阶Nomoto线性模型,在此基础上通过最小方差控制理论得到了黄金分割自适应控制系数;然后利用雅各布理论说明对于时变离散线性二阶闭环系统,黄金分割法在船舶控制中的鲁棒性;最后通过仿真实验以及PID控制来说明本文所采用的黄金分割法的有效性。本算法能够降低环境参数对船舶航行的干扰,保证船舶的安全行驶。
In this paper,the rudder angle variation little ship navigation systems was as a first-order linear model Nomoto. Based on this theory obtained adaptive control coefficient of golden section by minimum variance control. Then Jacob theoretical explanation for the use of time-varying linear discrete second order closed-loop system,golden Section method had robust control in the ship control. Finally,to illustrate the effectiveness of the golden section method used in this paper by simulation and experiments with PID control method,this method could reduce the interference of environmental parameters of the ship sailing,the ship to ensure safe driving.
出处
《舰船科学技术》
北大核心
2016年第5X期7-9,共3页
Ship Science and Technology
关键词
黄金分割法
船舶航行控制
最小方差控制
golden section
ship navigation control
minimum variance control
