基于广义预测控制的船舶航迹保持.docVIP

摘  要  摘 要 船舶操纵自动舵一直是船舶运动控制的重要研究课题之一，它与航行安全、能源 节约及操作省力密切相关，从事这一领域研究的专家、学者一直在不懈努力的进行研 究。在 20 世纪 20 年代人们开始了对船舶航行控制的研究，即船舶自动舵的研究，出 现了较早的第一代自动舵，即机械式自动舵；随着控制理论与控制技术、电子学等理 论的发展与应用，出现了第二代自动舵和第三代自动舵，即 PID 自动舵和自适应自动 舵； 建立船舶运动的数学模型是进行船舶运动控制和仿真的基础。本文讨论了船舶航 行的数学模型。风、流、海浪对船舶航行会产生直接影响，因此对风、流、海浪的干 扰进行了建模。 讨论了常规广义预测控制算法，并将其应用于船舶航行控制中，并进行了数字仿 真。 提出了基于广义预测自适应控制的船舶航迹保持算法。仿真结果表明上述控制方 案均具有较好的控制效果，较强的抗干扰能力和自适应能力。 给出本文主要的结论以及所作的工作，提出了存在的进一步研究的问题和方向。 作为一种新型的计算机控制方法，广义预测控制对于将来的工业过程控制必将产 生重要影响，因此加强广义预测控制的应用研究必将成为一个非常有前景的研究课题。 关键词：船舶自动舵；预测控制；自适应控制；航迹保持 IV Abstract Abstract The autopilots of ships have been the importance research area of ships steering control system for long time. It is closely related with sailing safety, energy saving and releasing burden on the pilots. Lots of experts and scholars in this area have worked hard on it. Research on autopilots of ships started from 20’s of last century. The first generation of autopilots was of the mechanical type. As the development of control theory and electronics technique, the second generation and the third generation of autopilots appeared in the type of PID and adaptive schemes. Establishing a mathematical model of ship motion is the foundation for ship control and simulation The wind, current and sea wave disturbances can produce strong influence on ship sailing. Therefore, the wind, current and sea wave disturbances are modeled also. Generalized predictive control algorithm for autopilots of ships is discussed.This scheme adopts CARIMA model to predict output of the system. The generalized predictive control law for autopilots of ships can be derived based on rolling optimization of the performance index. An adaptive Generalized Predictive Control algorithm for ship track-keeping is introduced． The results of simulation have shown that the control algorithms and schemesproposed above are effective,.and the controllers designed have good performances and adaptive abilities. our work and the future research and problem were present