基于分数阶PI~λD~μ的船舶航向控制
发布时间：2019-01-27 16:19
【摘要】：船舶在海上航行时受到海风、海浪和海流等环境扰动作用,这造成在不同航速下船舶动力学模型的参数不确定性,本文对船舶本体运动和风浪流干扰进行建模,提出一种基于分数阶PI~λD~μ的抑制风浪干扰的的航向控制算法,并与传统PID算法进行对比,针对某型船舶动力学模型在6级海风和5级海浪海况下进行对比数字仿真。仿真结果表明,该算法在不同航速下具有较好的控制品质和鲁棒性,对风浪干扰具有良好的适应性,可应用于船舶的航向控制,易于工程实现。
[Abstract]:Ships are disturbed by sea wind, waves and currents, which lead to the uncertainty of ship dynamics model at different speeds. In this paper, the ship body motion and wind current disturbance are modeled. A course control algorithm based on fractional-order PI~ 位 D ~ 渭 is proposed to suppress wind and wave interference. Compared with the traditional PID algorithm, the dynamic model of a ship is simulated under the sea conditions of 6 and 5 degrees of sea wind. The simulation results show that the algorithm has better control quality and robustness at different speeds and has good adaptability to wind and wave disturbance. It can be applied to ship heading control and is easy to be realized in engineering.
【作者单位】： 海军驻大连426厂军事代表室;东部战区海军装备部信息系统处;中国船舶重工集团公司第七0七研究所九江分部;
【分类号】：U664.82
，
本文编号：2416438
[Abstract]:Ships are disturbed by sea wind, waves and currents, which lead to the uncertainty of ship dynamics model at different speeds. In this paper, the ship body motion and wind current disturbance are modeled. A course control algorithm based on fractional-order PI~ 位 D ~ 渭 is proposed to suppress wind and wave interference. Compared with the traditional PID algorithm, the dynamic model of a ship is simulated under the sea conditions of 6 and 5 degrees of sea wind. The simulation results show that the algorithm has better control quality and robustness at different speeds and has good adaptability to wind and wave disturbance. It can be applied to ship heading control and is easy to be realized in engineering.
【作者单位】： 海军驻大连426厂军事代表室;东部战区海军装备部信息系统处;中国船舶重工集团公司第七0七研究所九江分部;
【分类号】：U664.82
，
本文编号：2416438
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