可预测期望航向的船舶航迹控制器设计  

Controller design for ship tracking based on prediction of desired headings

作　　者：胡耀华[1] 徐素武[1] 

机构地区：[1]东莞理工学院电子工程学院,广东东莞523808

出　　处：《控制理论与应用》2010年第12期1641-1646,共6页Control Theory & Applications

基　　金：东莞市科技计划资助项目(2006101101027)

摘　　要：为了提高航迹控制器的跟踪性能,节省航程,本文推导了期望航向和航迹偏差的数学模型,设计了可预测期望航向的船舶航迹预测控制器,它不仅能预测系统的输出(船首向和航迹偏差),而且可以提前多步预测系统的参考输入(期望航向),以提前修正命令舵角.对货船的航迹控制计算机仿真结果表明,算法提高了控制器的跟踪速度和精度,缩短了船舶的实际航程.本文还给出了求解控制器中逆矩阵的递推算法,其计算量为通常算法的1/3.To improve the tracking performance and shorten the length of the journey,we introduce a generalized predictive controller（GPC） for ship tracking.It adjusts the commanded rudder angles based on the predicted heading angles and track errors,and the predicted desired heading angles in multiple steps ahead.The simulation of the tracking of a cargo ship shows that the new controller improves the tracking speed and precision,and shortens the length of the journey.A recursive algorithm for matrix inversion employed in the controller design is also presented.The computational time required by the recursive algorithm for matrix inversion is only 1/3 of that in general matrix inversion algorithms.

关 键 词：广义预测控制 航迹保持 矩阵求逆 递推算法 

分 类 号：U664.82[交通运输工程—船舶及航道工程]