【摘要】 全回转舵桨船操纵机动性强,但航向稳定性差,在长程航行中尤其需要采用航向自动控制技术。针对双舵桨驱动的"润江1"科考船,将卡尔曼滤波器与模型预测控制器级联建立了适用于舵桨驱动船的航向控制系统,具备滤除高频波浪干扰并有效处置舵桨限制条件的功能。仿真测试和船模控制试验充分验证了上述系统的有效性,适用于舵桨驱动船的航向控制。更多还原

【Abstract】 Azimuth thruster vessels have strong maneuvering capability,but poor course keeping performance.Automatic heading control is very important for azimuth thruster vessels in long-distance service.For ‘Runjiang 1’ scientific expedition vessel driven by twin azimuth thrusters,a heading control system based on combination of Kalman filter and model predictive controller is proposed.It has strong capability to filter out the high-frequency wave excitations and fully manipulate the physical constraints of the azimuth thrusters.The numerical simulation and self-propulsion model testing validate the feasibility and effectiveness of the proposed heading controller.更多还原