基于改进船舶自动舵设计的数学模型  

Mathematical model based on improved ship automatic rudder design

作　　者：姬中平[1] 王玉威 JI Zhongping;WANG Yuwei(Henan College of Transportation,Zhengzhou 451460,China)

机构地区：[1]河南交通职业技术学院,河南郑州451460

出　　处：《舰船科学技术》2025年第4期91-95,共5页Ship Science and Technology

摘　　要：传统自动舵在船舶航向控制上仍然存在精度不足的问题,本文提出一种基于改进船舶自动舵设计的数学模型,构建船舶动态模型,设计改进自动舵的整体结构,提出了基于MPC和自适应算法的船舶改进自动舵数学模型设计方案,船舶动态模型为自动舵提供基础控制信号,通过信号测量与估计,实现船舶状态的实时反馈,最终实现船舶自动舵的自适应控制。从抗干扰能力和航向跟踪精度对改进自动舵进行仿真和对比,结果表明本文设计的基于自适应控制的改进自动舵在抗干扰能力和航向跟踪精度上都优于传统自动舵。Traditional autopilot still has insufficient accuracy in ship course control.This paper proposes a mathematic-al model based on improved ship autopilot design,the ship dynamic model is constructed,the overall structure of the im-proved autopilot is designed,and the mathematical model design scheme of the ship improved autopilot based on MPC and adaptive algorithm is proposed.The ship dynamic model provides basic control signals for the autopilot,and realizes real-time feedback of ship status through signal measurement and estimation.Finally,the adaptive control of ship automatic rud-der is realized.The improved autopilot is simulated and compared in terms of anti-jamming ability and course tracking accur-acy.The results show that the improved autopilot based on adaptive control is superior to the traditional autopilot in both anti-jamming ability and course tracking accuracy.

关 键 词：自动舵 PID 船舶动态模型 自适应控制 航向跟踪精度 

分 类 号：U664.36[交通运输工程—船舶及航道工程]