两种响应型船舶运动模型的对比及适用性分析

船舶运动模型作为自动舵性能检测平台的基础与核心，对于自动舵的研发、调试及船舶运动控制算法的设计都有非常重要的意义。现有的航迹航向自动舵检测平台普遍使用简化的一阶线性KT方程。由于忽略船舶回转运动中的纵向速度变化以及首摇角与横向速度之间的耦合，在实际使用中具有一定的局限性。本文引用国际电工委员会制定的航迹自动舵标准（ IEC62065）中提出的船舶运动模型，并对其进行仿真，将仿真结果与一阶线性KT方程的仿真结果进行对比分析，讨论一阶线性KT方程的适用范围。同时介绍改进的一阶非线性KT方程的形式并进行仿真试验，结果表明其与 IEC62065中非线性模型相似度较好，且减少了计算量。

The comparison and applicability analysis of two kinds of responding ship model

Ship model is the foundation and core of detection platform of autopilot. It has important significance for research and development of autopilot and design of ship motion control algorithms. There are limitations of the simplified first order linear KT equation which is commonly used in existing detection platform of autopilot because the neglect of the speed loss and the coupling relationship between transverse velocity and yawing angle. This paper introduces the ship model proposed by IEC62065. Comparison analysis on the simulation of this ship model and traditional KT equation show the application scope of the simplified first order linear KT equation. Meanwhile, this paper also introduces improved nonlinear KT equation. The simulation experiment proves the similarity between this model and the model proposed by IEC62065. And the nonlinear KT equation decreases the calculation workload.