【摘要】 发达国家已有舰船航向控制模型研究成果,无法适应中国舰船实际航向控制需求,存在着航向控制效果差的问题,因此提出舰船航向非线性控制的数学模型设计研究。详细分析舰船运动干扰信号,构建非线性舰船运动数学模型,选取并探究实际航向控制问题的性能指标,以构建模型与选取性能指标为基础,将舰船运动模型转换为状态方程形式,制定航向非线性控制流程,执行制定流程即可实现舰船航向的非线性控制。实验结果表明,应用构建模型后,在较短时间内实际航向可以调控到设定航向,控制舵角也能回正,充分证实了构建模型的有效性与可行性。更多还原

【Abstract】 The research results of ship course control model in developed countries can not meet the actual demand of China’s ship course control, and the effect of course control is poor. Therefore, the mathematical model design of ship course nonlinear control is proposed. This paper analyzes the interference signal of ship motion in detail, constructs the nonlinear mathematical model of ship motion, selects and explores the performance index of the actual heading control problem. On the basis of constructing the model and selecting the performance index, the ship motion model is transformed into the form of state equation, and the non-linear control process of heading is formulated. The non-linear control of ship heading can be realized by executing the formulation process. The experimental results show that: after the application of the model, the actual course can be adjusted to the set course in a short time, and the rudder angle can also return to the right, which fully proves the effectiveness and feasibility of the model.更多还原