基于鲁棒自适应控制算法的船舶航迹舵样机设计与开发  

Design and development of ship navpilot prototype based on the robust adaptive control

作　　者：李博 张国庆[1] 张显库[1] 聂昌行 LI Bo;ZHANG Guoqing;ZHANG Xianku;NIE Changxing(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：《大连海事大学学报》2024年第2期23-30,共8页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(52171291);辽宁省应用基础研究计划项目(2023JH2/101600039);辽宁省“兴辽英才计划”青年拔尖人才项目(XLYC2203129);大连市杰出青年科技人才项目(2022RJ07);大连市重点领域创新团队支持计划(2020RT08)

摘　　要：以鲁棒自适应航迹保持算法为核心技术,考虑航海工程实际操纵需求,应用嵌入式Linux技术,开发一套具有航海操纵、监控及报警、系统信息显示功能,硬件接口符合国际标准要求的航迹舵样机。以“育鲲”轮为试验对象,在随机海洋环境干扰条件下,根据海上导航和无线电通信设备及系统-航迹控制系统-操作和性能要求、测试方法及要求的测试结果 (GB/T 37417—2019)国家标准测试场景一对航迹舵进行有效性测试。结果表明,航迹舵可实现对跨0°经纬航线的稳定跟踪控制,且航向误差小于2°,航迹稳态误差小于13 m,满足标准要求。本文提出的航迹舵对船舶高端航行装备国产化具有重要参考意义。Taking the robust adaptive trajectory keeping algo⁃rithm as the core technology and considering the actual opera⁃tional requirements of navigation engineering,an embedded Linux technology was applied to develop a set of navpilot prototype with navigation control,monitoring and alarm,system information display functions,and hardware interfaces that meet international standards.Taking the“Yukun”ship as the experimental object,under random marine environmental in⁃terference conditions,the effectiveness of trajectory rudders was tested in accordance with the national standard test sce⁃nario one of maritime navigation and radio communication e⁃quipment and systems⁃trajectory control system⁃operation and performance requirements,testing methods and requirements(GB/T 37417-2019).The results show that the trajectory rudder can achieve stable tracking control over the 0°longi⁃tude and latitude route,with a heading error of less than 2°and a steady⁃state trajectory error of less than 13 m,meeting the standard requirements.The trajectory rudder proposed in this paper has important reference significance for the localiza⁃tion of high⁃end navigation equipment in ships.

关 键 词：船舶 航迹舵样机 航迹保持 鲁棒自适应控制 Nomoto数学模型 

分 类 号：U661.78[交通运输工程—船舶及航道工程]