| 恶劣海况下船舶航向控制仿真及应用研究 |
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| 引用本文： | 郭亦平,杜春旺,李明,王红波.恶劣海况下船舶航向控制仿真及应用研究[J].舰船科学技术,2008,30(1):141-144,152. |
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| 作者姓名： | 郭亦平 杜春旺 李明 王红波 |
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| 作者单位： | 1. 中国船舶重工集团公司第七○七研究所九江分部,江西,九江,332007
2. 九江市技工学校,江西,九江,332000 |
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| 基金项目： | 大型水面舰艇自动操纵系统技术研究项目 |
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| 摘 要： | 船舶在海面航行时,会受到风浪的干扰.此时,船舶航向控制困难,操舵频繁.采用Kalman滤波和模糊自整定PID控制,并基于线性化船舶运动方程的线性时,不变连续时间系统的设计方法得到的船舶操纵控制器,具有抗干扰能力强、鲁棒性好的特点,有效地解决了船舶在风浪干扰条件下的船舶航向控制时的操舵频繁与无效操舵问题.
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| 关 键 词： | 船舶航向控制 模糊系统 PID控制器 Kalman滤波器 |
| 文章编号： | 1672-7649（2008）01-0141-04 |
| 收稿时间： | 2007-03-20 |
| 修稿时间： | 2007年3月20日 |
Simulation and research of application of ship yaw control in the bad sea condition |
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| GUO Yi-ping,DU Chun-wang,LI Ming,WANG Hong-bo.Simulation and research of application of ship yaw control in the bad sea condition[J].Ship Science and Technology,2008,30(1):141-144,152. |
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| Authors: | GUO Yi-ping DU Chun-wang LI Ming WANG Hong-bo |
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| Abstract: | A ship must be disturbed by the wind and wave when it is sailing in the sea. Now,the yaw control is difficult,and the rudder is manipulated frequently. A ship manipulation controller adopts Kalman filter and fuzzy on-line self-tuning PID control method that is based on the linear time-invariant continuous system which results from the linearization of the ship motion equation,it is eharaetered the ability of resisting disturbance and robustness, and it solved the matter that the ship yaw controller manipulates frequently and steers rudder invalidly in the wind and wave disturbance condition. |
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| Keywords: | ship yaw control fuzzy system PID controller Kalman filter |
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