【摘要】 船舶航向运动系统具有典型的非线性和不确定性,并受到自动舵执行能力的约束以及风、浪、流等的干扰,使得航向控制器的设计非常困难.针对以上问题给出了带有舵机约束的船舶运动非线性数学模型以及海浪扰动数学模型,对ADRC的原理进行了简要介绍,设计出了船舶航向ADRC控制器.仿真结果表明该控制器对于船舶航向运动的非线性、参数不确定性、环境不确定性以及控制对象的模型变化均有较强的鲁棒性,航向切换控制过程快速、平滑,操舵量小,可以实现高精度的航向保持控制.更多还原

【Abstract】 Because of strong non-linearity and uncertainty,the dynamics restraints of autopilots,as well as the effects of wave disturbances,designing a high performance ship course controller is always difficult work. Design of the ship course active disturbance rejection controller(ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances were presented. The simulation results of ship course tracking and keeping showed that the controller has good adaptabilities on system non-linearity and strong robustness to parameter perturbations of the ship and environmental disturbances. The course switching is fast and smooth with small rudder turning volume,and thus achieved high-accurate ship course control.更多还原