船舶进出港低速航向保持-交通运输工程学报.PDFVIP

第5 卷　第4 期 交 通 运 输 工 程 学 报 Vol.5　No.4 2005 年12 月 Journal of T raffic and Transportation Engineering Dec. 2005 :1671-1637(2005)04-007-7 05 张显库,肖惟楚,郭　晨 ( , 　116026) 　:为了在船舶进出港时,船舶处 浅水域并以低速航行, 在风、浪等强扰动作用下, 增强航向 控制性能, 减小能源损耗,选择三阶N omoto 模型,将航速和水深变化反映到模型参数的变化上,基 闭环增益成形算法设计出一种具有适应性的鲁棒PID 控制器, 建立基 风、浪干扰的非线性船 舶运动数学模型,并用S 函数来实现。用 PID 控制器对非线性船舶运动数学模型进行控制, 在 Simulink 环境中对各种水深、船速及海况进行航向控制仿真。从仿真曲线可看出其航向跟踪效果 良好,静差为0,且施舵合理,所设计的控制器对非线性船舶运动数学模型具有良好的控制性能。 :交通控制;低速航行;浅水效应;航向保持;Nomoto 模型;闭环增益成形 :U666. 153　　　:A Course-keeping of inward-and-outward low speed ship Zhang Xian-ku, Xiao We-i chu, Guo Chen (Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University, Dalian 116026, China) Abstract:In order to improve ship control performance, reduce ship energy consumption w hen ship navigates at low speed in inw ard-and-outw ard shallow w ater under strong wind and w ave disturbance, third-order Nomoto model w as chosen, ship speed and w ater depth were reflected into the changes of its parameters, a robust PID controller w ith adaptability based on closed-loop gain shaping algorithm w as designed. The nonlinear mathematical model of ship motion with wind and w ave disturbance w as built and realized through programming its S-function. The designed PID controller w as used to control the nonlinear mathematical model of ship motion in the conditions of various w ater depths, ship speeds and sea states. The simulation result show s that the course-tracking effect is satisfactory, the steady state error is zero, the rudder angle is reasonable, and the designed controller has good performance for the nonlinear mathematical model. 2 tabs, 5 figs, 11 refs. Key words:traffic control;low s