应用非线性馈饰算法改进的船舶自动导航控制策略

为使船舶在航行和运营的过程中更加节能,采用非线性馈饰技术,即分别用两个函数对控制器的输入信号和输出信号进行处理,基于鲁棒比例积分和微分(Proportion Integral Differential, PID)控制器,设计船舶航向保持控制器,同时为接近航海实践,加入6 s 1次的操舵频率限制。通过仿真试验验证控制器的有效性,并且与已有的非线性算法进行比较。仿真结果表明:使用非线性馈饰技术设计的航向保持控制器能够很好地实现航向保持控制的目的,同时还能够使平均舵角相对于标准PID减少约50%,相对于其他非线性算法具有较为优秀的节能性能,这表明基于非线性馈饰技术设计的PID航向保持控制器具有节能的特点,对航向保持控制器的设计具有指导意义。

Improved Control Strategy for Automatic Ship Navigation Based on Nonlinear Feedback and Decoration Algorithm

The nonlinear feedback and decoration algorithm is introduced into automatic ship navigation controller for better energy-saving, where the input signal and the output signal of the controller are processed by two functions separately. An ship course-keeping controller of robust PID(Proportion Integral Differential)type are modified according to the concept. The steering frequency limit setting is 6 s as normal. The effectiveness of the controller is verified through simulations. The simulation results show that the course-keeping controller with the nonlinear feedback and decoration algorithm can achieve the goal of course-keeping control well, reduce the average steering angle by about 50% compared with the standard PID, and achieve a better energy-saving performance compared to other nonlinear algorithms.