一种动力定位系统低速航迹跟踪控制策略  

A Control Method of Low-Speed Path Following Control in Dynamic Positioning System

作　　者：周天舒[1] 韩冰[1] 张敏[1] 

机构地区：[1]上海船舶运输科学研究所航运技术与安全国家重点实验室,上海200135

出　　处：《中国航海》2014年第1期19-23,81,共6页Navigation of China

摘　　要：动力定位系统航迹跟踪控制可归结为直线航迹(线)控制和航向转折(点)控制。针对动力定位低速航迹跟踪控制模式,提出一种引入航迹误差参与计算航迹跟踪所需推力,并经过坐标变换计算出船体坐标系下的船舶所需推力,从而实现航迹自动纠偏的控制策略。仿真研究表明,船舶在保持设定艏向和航速的状态下,能精确跟踪设定航迹及实现航向转折。该动力定位低速航迹跟踪控制策略切实可行,具有一定的工程应用价值。The dynamic positioning path following control can be divided into straight-line control and azimuth-turning control. A low-speed path following control method is proposed in which the control output to follow a setting path is calculated according to the trajectory error, and the ship thrust in the vessel coordinates is determined from the control output through a coordinate transformation. The simulation results show that the ship is able to follow the setting path precisely at any giving heading and steer accuracy with the designed method.

关 键 词：船舶工程 船舶航迹 跟踪控制 低速航迹模式 PID控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]