基于鲁棒自适应控制算法的船舶航迹舵样机设计与开发
Design and development of ship navpilot prototype based on the robust adaptive control
李博 1张国庆 1张显库 1聂昌行1
作者信息
- 1. 大连海事大学航海学院,辽宁大连 116026
- 折叠
摘要
以鲁棒自适应航迹保持算法为核心技术,考虑航海工程实际操纵需求,应用嵌入式Linux技术,开发一套具有航海操纵、监控及报警、系统信息显示功能,硬件接口符合国际标准要求的航迹舵样机.以"育鲲"轮为试验对象,在随机海洋环境干扰条件下,根据海上导航和无线电通信设备及系统-航迹控制系统-操作和性能要求、测试方法及要求的测试结果(GB/T 37417-2019)国家标准测试场景一对航迹舵进行有效性测试.结果表明,航迹舵可实现对跨0°经纬航线的稳定跟踪控制,且航向误差小于2°,航迹稳态误差小于13 m,满足标准要求.本文提出的航迹舵对船舶高端航行装备国产化具有重要参考意义.
Abstract
Taking the robust adaptive trajectory keeping algo-rithm as the core technology and considering the actual opera-tional requirements of navigation engineering,an embedded Linux technology was applied to develop a set of navpilot pro-totype with navigation control,monitoring and alarm,system information display functions,and hardware interfaces that meet international standards.Taking the"Yukun"ship as the experimental object,under random marine environmental in-terference conditions,the effectiveness of trajectory rudders was tested in accordance with the national standard test sce-nario one of maritime navigation and radio communication e-quipment and systems-trajectory control system-operation and performance requirements,testing methods and requirements(GB/T 37417-2019).The results show that the trajectory rudder can achieve stable tracking control over the 0° longi-tude and latitude route,with a heading error of less than 2° and a steady-state trajectory error of less than 13 m,meeting the standard requirements.The trajectory rudder proposed in this paper has important reference significance for the localiza-tion of high-end navigation equipment in ships.
关键词
船舶/航迹舵样机/航迹保持/鲁棒自适应控制/Nomoto数学模型Key words
ships/ship navpilot prototype/track keeping/robust adaptive control/Nomoto mathematical model引用本文复制引用
基金项目
国家自然科学基金资助项目(52171291)
辽宁省应用基础研究计划项目(2023JH2/101600039)
辽宁省"兴辽英才计划"青年拔尖人才项目(XLYC2203129)
大连市杰出青年科技人才项目(2022RJ07)
大连市重点领域创新团队支持计划(2020RT08)
出版年
2024
NETL
NSTL
万方数据