船舶航向内模控制方法  

Research on internal model control method of ship course

作　　者：马晨翔 耿涛 车志宣 陈卫杰 吴爱平[1] MA Chen-xiang;GENG Tao;CHE Zhi-xuan;CHEN Wei-jie;WU Ai-ping(Electronic Information College,Yangtze University,Jingzhou 434022,China;Dongguan Xiaotun Intelligence Technologies Co.,Ltd.,Dongguan 523830,China)

机构地区：[1]长江大学电子信息学院,湖北荆州434022 [2]东莞小豚智能技术有限公司,广东东莞523830

出　　处：《舰船科学技术》2023年第9期60-64,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(51604038);青岛海洋科学与技术试点国家实验室海洋地质过程与环境功能实验室开放基金资助项目(MGQNLMKF201705)

摘　　要：针对无人船传统航向控制方法中参数多,调参困难繁琐,且船舶在偏舵负载干扰下,航向稳定后存在稳态误差的问题,在二自由度控制方法的基础上,结合内模控制器,提出一种改进的二自由度内模直接控制方法,消除传统内模控制方法中的不稳定极点引起的静态误差,实现低精度模型的无静差航向控制,该方法不但减少控制器的可调参数,且整定容易。该控制结构将期望航向的跟踪性能与抗负载扰动性能解耦,单独设计调节。通过仿真,在有偏舵干扰时,与传统PID算法、传统内模控制器对比,该控制器在消除静态误差的基础上,具有超调量小,系统稳定更快的特点。Aiming at the problems of many parameters,difficult and cumbersome parameter adjustment in the tradition-al heading control method of unmanned ship,and the steady-state error of ship in the interference of rudder deflection load,based on the two degree of freedom control method and combined with the internal model controller,an improved direct con-trol method of two degree of freedom internal model controller is proposed to realize the zero static error heading control of low-precision model.This method not only reduces the design steps of the controller,but also makes the parameter setting easy,The control structure can make the design of set point tracking performance and anti-interference performance inde-pendent and adjusted separately,and the adjustable parameters of the controller are less.Through the simulation analysis and comparison with the traditional PID algorithm and the traditional internal model controller,the controller has the characterist-ics of small overshoot and faster system stability on the basis of eliminating the static error.

关 键 词：无人船 航向控制 二自由度控制 改进的内模控制 

分 类 号：U675[交通运输工程—船舶及航道工程]