小型帆船自适应自动舵

帆船由于其结构的特殊使其动态特性呈严重的非线性，航向很难控制。首先针对一种小型竞赛用的12m长美洲杯赛帆船，从其结构出发建立数学模型，并对该模型进行了开环仿真试验以验证其真实程度。然后利用MATLAB辨识工具在不同的外部条件下得到各具特色的不同模型，由此确认模型参数的巨大变化难以用一个近似于当前运行模式下的线性化模型设计控制器，因而设计了一个采用自适应LQR的自动舵以控制帆船尖不同外部条件下都能保持航向。最后在该模型上作了仿真，取得了较好的效果。

A kind of Adaptive Autopilot for Yachts

Because of the special structure of a yacht, there exists serious nonlinear property in its dynamics. Therefore it is very difficult to keep the course of a yacht. In this paper the structure of a 12m long yacht used for American Cup is analysed, and a mathematical model is built. An open loop simulation is done to verify the authenticity based on this model. Many linear models are gotten by identification under different external conditions with MATLAB. It will be found from the simulation that, it is impossible to design a controller using only one linear model since the parameters will change greatly following the change of environment. An autopilot with adaptive LQR is designed to keep the yacht course under different external conditions. The simulation shows that the performance of the autopilot is very well compared with PID autopilot.