船舶航向保持控制研究综述  

Review of Ship Course Keeping Control

作　　者：章沪淦 张显库[1] ZHANG Hu-gan;ZHANG Xian-ku(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：《广东海洋大学学报》2022年第6期38-46,共9页Journal of Guangdong Ocean University

基　　金：国家自然科学基金项目(51679024);大连市重点研究领域创新团队支持计划项目(2020RT08)。

摘　　要：【目的】综述船舶航向保持控制近3年的发展,以期找到航向保持控制必须攻克的难题,探讨船舶航向保持控制未来的发展趋势。【方法】梳理分析近3年国内外航向保持控制的文献,介绍航向保持控制常用模型,包括Nomoto模型、Norribin模型、MMG模型和Fossen模型,对不同文献所使用的模型进行分类和总结。介绍航向保持控制的控制算法,分析各个算法之间的优缺点。由于船舶航向保持控制容易受到外界干扰和系统内部不确定的影响,阐述常见的RBF神经网络与线性扩张状态观测器处理扰动方式。【结果与结论】总结出船舶航向保持控制必须攻克的3个科学难题,并对航向保持控制的发展提出展望。【Objective】To summarize the development of ship course keeping control in recent three years,find out the difficult problems in ship course keeping control,and propose the future development trend of ship course keeping control.【Method】The literature on course keeping control at home and abroad in recent three years was reviewed and classified.This paper introduces several commonly used models of course keeping control,including Nomoto model,Norribin model,MMG model and Fossen model,and classifies and summarizes the models used in different literatures.Then the control algorithm of course keeping control is introduced,and the advantages and disadvantages of each algorithm are analyzed.Because ship course keeping control is easily affected by external disturbances and internal uncertainties of the system,this paper introduces two common ways to deal with disturbances:RBF neural networks and linear extended state observer.【Result and Conclusion】Based on the analysis of the literature,the authors put forward three scientific difficulties that must be overcome in the course keeping control of ships,and the prospect of the development of course keeping control.

关 键 词：航向保持 自动舵 船舶模型 航向保持控制方法 扰动处理 

分 类 号：U664.82[交通运输工程—船舶及航道工程]