摘要
为解决舰船避撞过程中舵角控制实时性不足问题,研究舰船避撞过程中船舵不稳定性分析方法,确保舰船在复杂多变的海况中,可以更好地适应波浪、洋流等环境因素,保持舰船航行的稳定性。通过构建舰船避撞过程中的线性模型,得到舰船避撞过程中的输入舵角;以舰船线性模型为基础,得到舰船避撞过程中包含时变延迟的舰船线性模型,并结合李雅普诺夫稳定性判定理论,获取包含时变延迟的舰船线性模型,输入舵角作用下是不稳定的,完成舰船避撞过程中船舵不稳定性分析。实验证明,该方法可有效实现舰船避撞过程中船舵不稳定性分析;应用该方法后,可有效提升舰船避撞过程航迹的平滑性与稳定性,加强避撞效果。
In order to solve the problem of insufficient real-time control of rudder Angle during ship collision avoidance,the analysis method of rudder instability during ship collision avoidance is studied to ensure that ships can better adapt to environmental factors such as waves and ocean currents in complex and changeable sea conditions,and maintain the stability of ship navigation.The input rudder Angle of ship collision avoidance is obtained by constructing the linear model of ship collision avoidance.Based on the ship linear model,a ship linear model containing time-varying delay in the course of ship collision avoidance is obtained,and combined with Lyapunov stability judgment theory,a ship linear model containing time-varying delay is obtained,which is unstable under the input rudder Angle,and the instability analysis of ship rudder during the course of ship collision avoidance is completed.Experimental results show that this method can effectively analyze rudder instability during collision avoidance.After applying this method,the smoothness and stability of ship track during collision avoidance can be effectively improved,and the collision avoidance effect can be strengthened.
作者
廖华
刘馨潞
李晓科
LIAO Hua;LIU Xinlu;LI Xiaoke(China Merchants Jinling Shipyard(Nanjing)Co.Ltd.,Nanjing 210000,China;Jiangsu Maritime Institute,Nanjing 210000,China)
出处
《舰船科学技术》
北大核心
2024年第15期53-56,共4页
Ship Science and Technology
基金
江苏省高等学校大学生创新创业训练计划省级A类项目(202112679011Y)。
关键词
舰船避撞
舰船船舵
不稳定性分析
线性模型
时变延迟
李雅普诺夫
ship collision avoidance
ship rudder
instability analysis
linear model
time-varying delay
lyapunov
