摘要
针对非线性船舶航向控制问题,基于Lyapunov稳定性理论,将网络控制技术融入到船舶自动舵控制器设计方法之中,利用网络化控制系统的稳定性分析方法,考虑船舶系统的实际特点,对船舶航向与控制问题进行研究,并设计一种新型自动舵控制策略.该控制策略计算量小,学习收敛速度快,控制性能良好,能较快地跟踪对象参数变化及适应船舶运行环境的改变.仿真结果不仅表明了这种控制策略能够提供较好的控制性能,而且其计算速度基本上可以满足船舶操纵实时控制的要求.
Aimed at the nonlinear problem of ship course control and based on Lyapunov stability theory,the networked control technology was introduced to controller design of ship autopilot.Taking into account of the actual characteristics of ship system,the problems of ship course and control were investigated and a novel strategy of autopilot was then designed by employing the stability analysis method of networked control system.This control made a feature of quicker response strategy to the variation of target parameters and quicker adaptation to the unforeseen circumstances with fast convergence speed and less computation labor.The simulation results showed that this control strategy could provide not only a better control performance but also quick computation speed fulfilling the requirement of real-time control for ship steering.
出处
《兰州理工大学学报》
CAS
北大核心
2010年第5期73-78,共6页
Journal of Lanzhou University of Technology
基金
国家自然科学基金(60974013)
霍英东教育基金(111066)
国家新世纪优秀人才支持计划(NCET-04-0982)
