基于最优控制的船舶航迹全局NPD控制算法  

Global NPD tracking control algorithm of ship based on optimum control theory

作　　者：周岗[1] 李文魁[1] 陈永冰[1] 陈阳[1] 贾玉柱[1] 

机构地区：[1]海军工程大学电气工程学院,湖北武汉430033

出　　处：《系统工程与电子技术》2014年第1期143-148,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金(60974136)资助课题

摘　　要：针对如何设计船舶航迹控制参数达到期望控制性能的问题,围绕给出的船舶航迹控制目标,首先求解了船舶航迹零平衡点局部最优控制的解析解,然后根据船舶航迹控制全局渐近稳定的条件和航迹非线性比例微分(nonlinear proportion derivative,NPD)控制的物理意义,设计了船舶直线航迹全局NPD控制算法的解析式,该解析式描述了船舶航迹控制性能与船舶运动参数之间的解析关系,并且保证了船舶航迹闭环控制系统全局渐近稳定。数字仿真验证了航迹NPD控制算法的有效性;进一步的实船试验结果表明,根据航迹NPD控制解析式设计的航迹控制器达到了期望的控制精度和性能。How to design the ship track control parameters to achieve the desired control performance is focused on. Centering on the preset target for ship track control, the zero balancing point of ship track local opti- mal analytical solution is solved based on optimum control theory firstly. Based on ship tracking control global asymptotical stability condition and physic meaning of track nonlinear proportion derivative （NPD） control law, the analytical formula of ship straight line track NPD control law is designed. This formula describes the rela tions between ship track control performance and ship motion parameters, and the shiptrack closed loop control system is global asymptotic stable. Simulation results demonstrate the effectiveness of the ship track NPD control algorithm. Further real ship experiment results indicate that the track controller designed by NPD control analytical formula achieves the expected control precision and performance.

关 键 词：船舶自动驾驶系统 船舶航迹非线性比例微分控制 全局渐近稳定 船舶航迹控制的解析式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U661.33[自动化与计算机技术—控制科学与工程]