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为研究船舶航向保持控制问题,以“育鹏”轮为研究对象,建立其非线性Nomoto船舶模型,设计基于闭环增益成形算法的指数函数非线性反馈控制器,并以“育鹏”轮的非线性模型为被控制对象,用Matlab的Simulink工具箱进行系统仿真研究。仿真结果表明:建立的非线性Nomoto数学模型精度良好,设计的控制器在进行船舶航向保持控制时效果优异,并且更节能。使用这种方法设计的控制器,可以很好地进行船舶航向保持控制,对今后的船舶运动仿真和控制器的设计具有重要意义。
In order to study the control of ship course keeping, a nonlinear model of Nomoto ship was built based on the “Yu Peng” wheel. The exponential nonlinear feedback controller based on the closed-loop gain shaping algorithm was designed. The " The nonlinear model of the wheel is the controlled object, and the system simulation research is carried out by Matlab Simulink toolbox. The simulation results show that the established nonlinear Nomoto mathematical model has good accuracy and the designed controller is effective and safer at heading control. The controller designed by this method can well maintain the ship heading control and is of great significance to the future ship motion simulation and controller design.