摘要
利用野本模型作为船舶航向控制系统的模型，在给出船舶航向自动舵传统PID型控制律设计方法的基础上，考虑到船舶航向控制系统模型中存在参数不确定性和外界干扰不确定性，建立含有不确定性项的船舶航向误差控制系统的状态方程，提出了船舶航向自适应鲁棒PID控制律算法，利用Lyapunov理论证明了所提出算法的稳定性，并且利用MatlabSimulink工具箱进行仿真研究．
An algorithm of traditional PID type autopilot is given based on regarding Nomoto's equation as the normal equation. Concerning the ship motion equation with the uncertain parameter variations and input disturbance,a state equation for ship course error controlled system with the uncertainty is constructed,and making use of the theory of Lyapunov stability,a new algorithm of adaptive robust PID type autopilot for ships is presented. Simulation results based on the matab simulink package show the effectiveness of this algorithm.
出处
《武汉交通科技大学学报》
EI
1999年第6期594-598,共5页
Journal of Wuhan University of Technology(Transportation Science & Engineering)
基金
国家教委博士点基金!98015101
