恶劣海况下闭环增益成形算法在渔船航迹保持控制的应用  

Fishing vessel track-keeping control based on closed-loop gain shaping algorithm under rough sea conditions

作　　者：隋江华 郭特尔 宋纯羽 SUI Jianghua;GUO Teer;SONG Chunyu(Navigation and Ship Engineering College,Dalian Ocean University,Dalian 116023,China)

机构地区：[1]大连海洋大学航海与船舶工程学院,辽宁大连116023

出　　处：《中国舰船研究》2025年第1期272-277,共6页Chinese Journal of Ship Research

基　　金：辽宁省教育厅2023年度高校基本科研资助项目(JYTQN2023131)。

摘　　要：[目的]为解决渔船在恶劣海况下的航迹保持问题,提出一种分离式航迹保持控制器。[方法]采用非线性反馈法对闭环增益成形算法进行改进,并引入反正切函数以有效解决系统控制能量过大的问题。同时,通过积分分离式设计,以解决常规PID控制器中积分项对系统暂态性能的影响。[结果]SDB8102型32.98m玻璃钢拖网渔船在蒲氏7级风下的仿真实验结果表明,该航迹保持算法的稳态误差小于3m,验证了其实用性与稳定性。[结论]该研究成果可为渔船航迹保持控制以及渔船装备的智能化水平提升提供参考。[Objective]In order to solve the track-keeping problem of a fishing vessel under rough sea conditions,a separated track-keeping controller is proposed.[Methods]The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm,and an arctan function is introduced to effectively solve the problem of the system's excessive control energy.At the same time,an integral separation design is used to solve the integral term influence of conventional PID(proportion integration differentiation)controllers on the transient performance of the system.[Results]Based on the results of simulation experiments on a common 32.98 m fiberglass reinforced plastic(FRP)trawler(model SDB8102)sailing under force 7 of the Beaufort wind scale,the steady state trajectory error is less than 3 m,which verifies that the method is safe,feasible,concise and effective.[Conclusion]The results of this study can provide useful references for fishing vessel track-keeping control,as well as the intelligent level enhancement of fishing vessel equipment.

关 键 词：渔船 运动控制 航迹保持 反馈控制 非线性反馈 闭环增益成形算法 恶劣海况 

分 类 号：U664.82[交通运输工程—船舶及航道工程]