【摘要】 船舶是一种运行环境相对恶劣的重要的运输工具,海洋上风浪较大,天气情况也比较恶劣,船舶在航行过程中,会不可避免的受到风浪和海流的冲击,船舶产生晃动,影响正常的航行方向。因此为保障船舶的行进方向,必须对船舶的航向进行严格的控制,船舶的航向控制系统设计成为关键。传统的PID航向控制系统具有明显的不足之处,本文在传统PID控制方法的基础上,采用自适应的控制方法设计船舶航向控制系统。该系统可以适应船舶模型参数变化,同时适应天气、海况等的环境条件的不断变化,在线更新控制器的参数,使航行控制系统工作在最优状态。更多还原

【Abstract】 The ship is a kind of important transportation tool, which is a kind of operating environment and the weather condition is relatively worse. The wind and waves on the sea is very big,and the weather conditions are relatively poor,the ship in the course of the process will inevitably be affected by the wind and waves and sea currents,the ship will shake,affecting the normal direction of navigation.Therefore,in order to ensure the direction of the ship,the course of the ship must be strictly controlled.The traditional PID course control system has obvious shortcomings,this paper using adaptive control method based on the traditional PID control methods to design the course control system of the ship. The system can adapt to the change of the parameters of the ship model and also the change of the environmental conditions of weather and sea condition,can update the control parameters of the controller online,can make the navigation control system work in the optimal state.更多还原