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为实现欠驱动水面船舶在内部动态不确定和外界风流干扰情况下的航迹跟踪控制,首先构造能够使航迹偏差收敛的船首向角的跟踪方程,然后将航迹控制转化为实际船首向跟踪期望船首向的航向控制问题.应用自抗扰控制技术设计自抗扰航迹跟踪控制器,解决了恒定风流干扰造成的船舶横漂问题.应用非线性水动力模型进行仿真,结果表明,控制器能够实现欠驱动船舶对直线和曲线路径的精确跟踪,且具有较强的鲁棒性.
In order to realize the track-following control of under-driven surface ships under the condition of internal dynamic uncertainty and external disturbance of wind flow, the tracking equation of heading angle which can make the track deviation converge is constructed first, and then the track control is transformed into the actual heading-tracking The heading of heading control is expected.A self-disturbance rejection control technology is used to design a self-disturbance track tracking controller to solve the problem of ship drift caused by constant wind disturbance.Using the nonlinear hydrodynamic model, the simulation results show that the controller Which can realize the accurate tracking of straight and curvilinear paths of under-driven ships and has strong robustness.