基于非线性修饰和零阶保持器的船舶航向保持控制  

Design of ship course keeping controller based on zero-order holder and nonlinear modification

作　　者：张显库[1] 洪皓辰 ZHANG Xianku;HONG Haochen(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》2024年第1期84-89,共6页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51679024)。

摘　　要：[目的]为了解决船舶在海上航行时控制器舵角输出大、打舵频率高、控制速度较慢以及控制精度较低的问题,利用三阶闭环增益成形算法设计鲁棒控制器。[方法]首先,利用三阶闭环增益成形算法设计出线性鲁棒控制器,然后,在控制策略中加入双曲正切非线性修饰以及零阶保持器,在不同海况下对该控制器的性能进行仿真实验。[结果]仿真结果表明,相比于基于非线性修饰的传统PID控制器,在一般海况下,所提控制器在延迟时间、控制精度以及能量输出上分别改进了36%,14%和32%;在恶劣海况下,分别改进了27%,7%和16%。此外,不同海况下该控制器的仿真结果都具有稳定的舵角输出,并可以较快地稳定在临界值附近,证明了其具有较好的鲁棒性。[结论]改进的控制器符合工程实践,对于智能船舶的控制具有较好的应用参考价值。[Objective]In order to solve such problems as the large rudder angle output,high steering frequency,slow control speed and low control accuracy of controllers when ships sail at sea,a third-order closedloop gain shaping algorithm is used to design a robust controller.[Method]First,the linear robust controller is designed using the third-order closed-loop gain shaping algorithm,and hyperbolic tangent nonlinear modification and a zero-order holder are added to the control strategy.The performance of the controller is then simulated under different sea conditions.[Results]As the results show,compared with the traditional PID controller based on nonlinear modification,the proposed controller has improved delay time,control accuracy and energy output by 36%,14%and 32%respectively under general sea conditions,and improved delay time,control accuracy and energy output by 27%,7%and 16%respectively under heavy sea conditions.In addition,the simulation results of the controller under different sea conditions show stable rudder angle output and the ability to stabilize near the critical value quickly,proving that it has good robustness.[Conclusion]The improved controller is in line with engineering practices and has good application reference value for the control of intelligent ships.

关 键 词：闭环增益成形算法 零阶保持器 非线性修饰 航向保持控制 航海 

分 类 号：U664.82[交通运输工程—船舶及航道工程]