基于虚拟本船的欠驱动船舶航迹保持策略  

Track keeping strategy of underactuated ship based on virtual ship

作　　者：梁才磊 张显库[1] 李争 LIANG Cailei;ZHANG Xianku;LI Zheng(Navigation College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《中国舰船研究》2020年第S01期6-11,共6页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51679024);中央高校基本科研业务费资助项目(3132016315);高等学校学科创新引智计划资助项目(B08046)。

摘　　要：[目的]为改善大、中型船舶航迹保持控制的效果,减少舵机能耗,需建立一种适合多种船型的航迹保持策略。[方法]在虚拟小船逻辑制导的基础上,提出基于虚拟本船的航迹保持策略,通过设置虚拟本船,使船舶快速跟踪虚拟本船,并精确地回到航线上。为适合不同船型,考虑船舶操纵性,对航线转向点附近的航向保持进行规划,以确保船舶在转向过程中无超调。另外,在控制算法中应用非线性反馈技术来降低舵机能耗,并以“Mariner”轮为研究对象进行仿真分析。[结果]结果表明,在此策略控制下,“Mariner”轮的航迹保持控制超调量为零,平均舵角输出降低了12.4%,可改善航迹保持效果,减少舵机耗能。[结论]所提策略提高了船舶航迹保持精度,可作为大、中型船舶高精度航迹保持控制的核心算法。[Objectives]To improve the ability of medium-large ships to control their track keeping,reduce the energy consumed by steering gear,and establish a track keeping strategy suitable for various ship types.[Methods]Based on the logic guidance of a virtual ship,a track keeping strategy based on a virtual ship with the same characteristics of a controlled ship is proposed.By implementing a virtual ship,the real ship can track the virtual ship quickly and accurately back to the route.In order to be suitable for different ship types,the strategy also takes into account the ship's maneuverability,and plans the track keeping near the route turning point to ensure that there is no overshoot in the process.In addition,nonlinear feedback technology is applied to the control algorithm to reduce the rudder energy consumption.The"Mariner"ship is taken as the research object for the simulation analysis.[Results]The results show that the"Mariner"ship's track keeping overshoot is zero,and the average rudder angle output is decreased by 12.4%to reduce the steering gear's energy consumption.[Conclusions]This strategy improves the effect of track keeping control,reduces the energy consumption of steering gear and can serve as a core algorithm for high precision track keeping control of medium-large ships.

关 键 词：虚拟本船 航迹保持 非线性反馈 鲁棒控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]