无动力目标拖带系统的转向智能协同控制方法  

Intelligent Coordination Control Method for Unpowered Target Towing System

作　　者：李芸[1] 刘春姣[2] 肖英杰[1] 

机构地区：[1]上海海事大学商船学院,上海201306 [2]交通运输部水运科学研究院,北京100088

出　　处：《信息与控制》2015年第6期690-696,共7页Information and Control

基　　金：上海市教育委员会科研创新项目(11CXY49);上海市科学技术委员会2009年度创新行动计划资助项目(09170502000)

摘　　要：现有的无动力目标的海上拖带浮运,都是依靠人工指挥统一操纵,然而在操纵配合以及操纵时间方面会有延误,人工因素影响较重.为了增加系统的自适应调控能力,引入智能控制手段,建立智能协同控制策略,设计了协同控制控制器,利用系统间的耦合关联,对航向和拖力进行自动调控,使得系统可以快速、智能、稳定地实现转向目的,并通过仿真验证,分析调控后的系统轨迹趋势和稳定性,得到了良好的控制效果,对系统的智能控制实践具有指导意义.Existing sea floating techniques for unpowered targets rely on an artificial unified control command. However, with respect to the control and manipulation time, there are delays, with artificial factors having a signficant effect. In order to increase the capability of the adaptive control system, we introduce a means of intelligent control, establish an intelligent coordination control strategy, and design a collaborative controller, using the system＇s coupling relation, its automatic heading regulation, and drag force to realize fast, intelligent, and steady steering control. An analysis of our control system tracking trends and stability simulation results show that the system achieves good control, and can significantly guide the intelligent control practices of the system.

关 键 词：无动力目标拖带 拖带系统 智能协同控制 转向控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]