ZHANG Xian-ku, FENG Yong-xiao
(Laboratory of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, China)
Abstract： Autopilot is an important navigation instrument, and it plays an important role in safe navigation. In order to further improve the performance of the autopilot, this paper adopts the first-order closed loop gain shaping algorithm (PID) to design autopilot control algorithm with robustness, and uses tangent function nonlinear feedback technology to replace the linear feedback to improve the energy saving effect of autopilot. Taking Dalian Maritime University’s newly-built YUPENG ship as an example, the simulation research is carried out. The results show that the control effect is still satisfactory when the model parameters change by 25%, which suggests that the designed autopilot algorithm has good robustness. Compared with linear feedback, nonlinear feedback can save 7.9% of energy. The algorithm proposed in this paper is simple and has obvious physical meaning. At the same time, the control algorithm is also helpful for the localization of controller design.
Key words： autopilot; nonlinear feedback; tangent; YUPENG ship
CLD number： TP273Document code： A
Article ID： 1674-8042（2017）01-0078-06 doi： 10.3969/j.issn.1674-8042-2017-01-012
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基于正切函数非线性反馈的“育鹏”轮自动舵控制算法
张显库， 冯永孝
（大连海事大学 航海动态仿真和控制实验室， 辽宁 大连 116026）
摘要:自动舵是重要的航海仪器， 对于船舶的安全航行有着重要作用。 为了进一步改善自动舵的性能， 本研究采用一阶闭环增益成形算法（PID）设计了具有鲁棒性的自动舵控制算法， 并用正切函数非线性反馈技术代替线性反馈以提升自动舵的节能效果。 以大连海事大学新交付使用的“育鹏”轮为例， 开展仿真研究。 结果表明模型参数改变25%控制效果良好， 说明设计的自动舵算法具有良好的鲁棒性， 与线性反馈相比， 非线性反馈能节能7.9%。 本文所提算法简单， 物理意义明显， 同时该控制算法也有助于船舶控制器设计的国产化。
关键词:自动舵； 非线性反馈； 正切； “育鹏”轮
引用格式：ZHANG Xian-ku, FENG Yong-xiao. Control algorithm of YUPENG ship autopilot based on tangent function nonlinear feedback. Journal of Measurement Science and Instrumentation, 2017, 8(1)： 78-83. ［doi： 10.3969／j.issn.1674-8042.2017-01-012］
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