一种双输入非线性修饰的船舶航向保持控制算法  

A Dual-Input Nonlinear Modified Ship Course Keeping Control Algorithm

作　　者：雷云松 张显库[1] LEI Yunsong;ZHANG Xianku(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《船舶工程》2025年第3期87-92,共6页Ship Engineering

基　　金：国家自然科学基金(52171291);大连市重点领域创新团队支持计划(2020RT08);中央高校基本科研业务费专项(3132023502)。

摘　　要：[目的]为使船舶航向保持算法具有良好的鲁棒性和节能性,设计一种基于双输入非线性修饰的船舶航向保持控制算法。[方法]考虑到双输入非线性修饰技术能以更小的控制输入得到与其他常用技术几乎相同甚至更佳的控制效果,闭环增益成形算法具有较强的鲁棒性,且参数整定较为简洁,将二者相结合进行控制器设计,使其同时具有较强的鲁棒性和节能性。[结果]Simulink仿真结果表明,相比采用单输入非线性修饰技术,采用闭环增益成形算法与双输入非线性修饰技术相结合的方案时:若不考虑舵机特性,船舶产生的能量消耗性能指标可下降13.29%;若考虑舵机特性,该性能指标可下降12.98%,且当延迟时间设为5 s时,该性能指标可下降82%,间接达到节能的目的。[结论]研究采用的控制器能进一步降低鲁棒控制的能量,具有良好的鲁棒性。[Purpose]In order to make the ship course keeping algorithm have satisfactory robustness and energy saving,a ship course keeping control algorithm based on dual-input nonlinear modification is designed.[Method]Considering that the dual-input nonlinear modification technique can obtain almost the same or even better control effect with smaller control inputs than other commonly used techniques,and the closed-loop gain shaping algorithm has strong robustness and more concise parameter tuning,the combination of the two is used for the design of controllers,which makes them robust and energy-saving at the same time.[Result]Simulink simulation results show that when using the closed-loop gain shaping algorithm combined with the dual-input nonlinear modification technique compared to the single-input nonlinear modification technique,under the effect of the algorithm in the paper,if the rudder characteristics are not taken into account,the performance index of the energy consumption generated by the ship can be reduced by 13.29%;if the rudder characteristics are taken into account,the performance index can be reduced by 12.98%,and if the delay time is set to 5 s,the performance index can be reduced by 82%,which indirectly achieves the purpose of energy saving.[Conclusion]The controller used further reduces the energy of robust control and has satisfactory robustness.

关 键 词：航向保持 非线性修饰 闭环增益成形 

分 类 号：U664.82[交通运输工程—船舶及航道工程]