Control algorithm of YUPENG ship autopilot based on tangent function nonlinear feedback  

基于正切函数非线性反馈的“育鹏”轮自动舵控制算法（英文）

作　　者：ZHANG Xian-ku FENG Yong-xiao 张显库;冯永孝(大连海事大学航海动态仿真和控制实验室,辽宁大连116026)

机构地区：[1]Laboratory of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, China

出　　处：《Journal of Measurement Science and Instrumentation》2017年第1期78-83,共6页测试科学与仪器（英文版）

基　　金：National Nature Science Foundation of China(No.51679024);Fundamental Research Funds for the Central University(No.3132016315)

摘　　要：Autopilot is an important navigation instrument,and it plays an important role in safe navigation In order to further improve the performance of the autopilot,this paper adopts the first-order closed loop gain shaping algorithm(PID)to designautopilot control algo rithm with robustness and uses tangent function nonlinear feedback technology to replace the linear feedback to improve the energy saving effect of autopilot.Taking Dalian Maritime University’s newly-built YUPENG ship as anexample,the simulation research is carried out.The results show that the control effect is still satisfactory when the model parameterschange by25%,which suggests that the designed autopilot algorithm has good robustness.Compared with linearfeedback,nonlinear feedback can save7.9%of energy.The algo rithm proposed in this paper is simple and has obvious physicalmeaning.At the same time,the control algorithm is also helpful for the localization of controller design

关 键 词：AUTOPILOT nonlinear feedback TANGENT YUPENG ship 

分 类 号：U664.82[交通运输工程—船舶及航道工程]