基于指数函数非线性反馈的船舶航向保持控制

为研究船舶航向保持控制问题,本文以“育鹏”轮为研究对象,建立了其非线性Nomoto船舶模型,设计了基于闭环增益成形算法的指数函数非线性反馈控制器,并以“育鹏”轮的非线性模型为被控制对象,用Matlab的Simulink工具箱进行系统仿真研究。系统仿真结果表明,建立的非线性Nomoto数学模型精度良好,设计的控制器进行船舶航向保持控制时效果优异,并且更节能。使用这种方法设计的控制器,可以很好地进行船舶航向保持控制,对今后的船舶运动仿真和控制器的设计具有重要意义。

Ship Course Keeping Control Based onNonlinear Feedback of Exponential Function

In order to research the problem of course keeping control of ship,"Yu Peng" ship is treated as the research object in this paper, we established the nonlinear Nomoto ship model, and designed an exponential function nonlinear feedback controller based on closed loop gain shaping algorithm. We take the nonlinear model of Yu Peng as a control object,and carried out the simulation by using simulink toolbox of Matlab. The simulation results show that the nonlinear Nomoto model has good accuracy, the designed controller has good performance, and it is more efficient. Using this method to design the controller, which can not only carry on the ship course keeping control well, but also has the important significance to the future ship motion simulation and the design of the controller.