文中建立考虑舵机伺服系统特性和风、流干扰的线性船舶动力学模型,确定仿真实验船舶的各个必要参数.引入最优控制策略,以航速为自变量设计不同航速下基于最优控制策略的PID(proportion integral differential)航向控制器 OP-PID Controller(optimal PID controller),在不同航速下分别采取PID和OP-PID进行了航向控制仿真.在航向控制器的基础上,结合航段跟踪决策算法、改进的LOS(line-of-sight)制导方法获取航向偏差,以航向偏差驱动OP-PID间接航迹控制器.以OP-PID和改进的LOS组成的航迹控制方法进行了静水环境中和外界干扰下的航迹控制仿真实验.结果表明:基于改进LOS制导方法和OP-PID航向控制器可以较好地跟踪弯曲航道计划航线,舵角和转向幅度均小于现有航迹控制器.
Study on Ship Track Control Method in the Yangtze River Curved Channel
A linear ship dynamics model considering the characteristics of steering gear servo system and the interference of wind and current was established,and all necessary parameters of the simula-tion experiment ship were determined.The optimal control strategy was introduced,and the PID(Propulsion Integral Differential)course controller OP-PID controller based on the optimal control strategy was designed with the speed as the independent variable,and the course control simulation was carried out with PID and OP-PID at different speeds.On the basis of the heading controller,the course deviation was obtained by combining the leg tracking decision algorithm and the improved LOS(line-of-sight)guidance method,and the OP-PID indirect track controller was driven by the course deviation.Based on the route control method composed of OP-PID and improved LOS,the simulation experiment of route control in still water environment and external interference was carried out.The results show that based on the improved LOS guidance method and OP-PID heading controller,the planned course of curved channel can be tracked well,and the rudder angle and steering amplitude are smaller than those of the existing track controller.
curved sectionoptimal control strategycourse controltracking contro
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