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本文针对舰船定向航行实际情况,应用现代控制理论和计算机技术,建立了定向航行问题的数学模型,推导了最优控制律及便于计算的离散化形式,选择和设计了计算机硬件与软件,并根据某艇海上实船试验数据,进行了混合仿真实验。实验结果表明:控制规律的推导与计算机软件硬件的设计是正确可行的。
In this paper, aiming at the actual situation of ship’s directional navigation, the mathematical model of directional navigation problem is established by applying modern control theory and computer technology. The optimal control law and discrete form for calculation are derived. The computer hardware and software are selected and designed. According to the test data of a certain ship at sea, a hybrid simulation experiment was carried out. The experimental results show that the derivation of control law and the design of computer software hardware are correct and feasible.