基于自抗扰控制技术的船舶航向自动舵控制方法研究  

Active Disturbance Rejection Control Technique for Ship's Course Autopilot Control

作　　者：刘晓[1] 黄志坚[1] 张赞[1] 

机构地区：[1]上海海事大学,上海201306

出　　处：《船电技术》2016年第11期40-42,共3页Marine Electric & Electronic Engineering

摘　　要：本文基于线性Nomoto船舶运动模型,以传统PID控制器为基础,考虑到船舶自身状态和外界未知干扰对船舶航向系统的影响,对船舶航向自动舵控制系统引入自抗扰技术,建立以自抗扰控制方法为基础的船舶航向控制系统。最后利用Simulink仿真软件搭建系统的仿真模块,对改进的船舶航向控制系统的性能进行仿真验证。结果表明该方法具有较强鲁棒性、抗干扰性,解决了超调性与快速性之间的矛盾。在应对海上复杂的环境时有良好的动态性能和稳态性能。This paper introduces ADRC technology for ship ＂s course autopilot control system on the basis of linear Nomoto ship motion model and the traditional PID controller, takes into account the state of the ship itself and unknown outside interference on the ship heading system, and establishes the ship course control system based on the control method of ADRC. At last, a ship model simulation is carried out based on Simulink platform, and the simulation results indicate that the designed controller has strong robustness and anti-disturbance performance, and solves the contradiction between the overshoot and fast response to adapt to maritime complex environment with good dynamic performance and steady performance.

关 键 词：船舶自动舵 自抗扰控制器 传统PID控制 SIMULINK 

分 类 号：TU997[建筑科学—市政工程]