【摘要】 在用PD控制船舶航向的基础上,加上Smith预报器,去除闭环特征方程中纯滞后因素的影响,达到改善系统的性能和控制器输出性能的目的。通过对船舶航向控制系统仿真的结果分析可知,如果系统的纯滞后不大,加上Smith预报器后,控制效果基本相同,而增加系统的纯滞后到一定程度时,具有Smith预报器的PD控制明显提高了系统的控制性能。更多还原

【Abstract】 Smith predictor is added on the PD controller of ship autopilot to remove the effect of pure time delay in characteristic equation of the closed-loop system, therefore the system performance and the output of controller are improved. Through analyzing the result of ship autopilot simulation it follows that the control performance of the system does not improve obviously when the time delay is small. However, the control performance with the PD controller and Smith predictor is improved when the system-time delay is increased. [更多还原