船舶航向控制系统中多自由度嵌入式控制器的优化设计
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摘要
船舶航向控制器设计工作在船舶运动控制中始终占据重要地位,且直接关乎船舶航行舒适程度、安全程度与经济程度。因为船舶动态的非线性特征、大时滞特征较为明显,加之模型参数摄动与船舶运动状态下诸多外界干扰因素影响,导致控制器设计难度明显增加。为此,本文将多自由度嵌入式控制器优化设计应用于其中,能够使船舶航向控制系统性能得到全面提高,在船舶航行过程中,为其航向控制系统的正常运行提供必要保障,推动了现代船舶行业的发展。
The design of ship heading controller has always played an important role in ship motion control, and it is directly related to ship navigation comfort, safety and economy. Because the nonlinear characteristics of the ship dynamics and the large time lag characteristics are obvious, coupled with the influence of the model parameters perturbation and many external disturbance factors in the ship motion state, the design difficulty of the controller is obviously increased. To this end,this paper applies the multi-degree-of-freedom embedded controller optimization design to it, which can improve the performance of the ship's heading control system. It provides the necessary guarantee for the normal operation of the heading control system during the ship navigation process. The development of the modern shipbuilding industry.
The design of ship heading controller has always played an important role in ship motion control, and it is directly related to ship navigation comfort, safety and economy. Because the nonlinear characteristics of the ship dynamics and the large time lag characteristics are obvious, coupled with the influence of the model parameters perturbation and many external disturbance factors in the ship motion state, the design difficulty of the controller is obviously increased. To this end,this paper applies the multi-degree-of-freedom embedded controller optimization design to it, which can improve the performance of the ship's heading control system. It provides the necessary guarantee for the normal operation of the heading control system during the ship navigation process. The development of the modern shipbuilding industry.
引文
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[6]席东河,申一歌,杜娟,等.一款基于ARM的多自由度人形教育机器人控制系统的设计[J].电子产品世界,2015,22(01):36-39.
[2]梅强,李丽娜,陈国权,等.模糊自整定PID航向控制算法优化及其性能评判[J].合肥工业大学学报(自然科学版),2015,38(08):1055-1059.
[3]李楠,霍宏,叶玉璇,等.多自由度空间机械手嵌入式控制系统研究[J].航天控制,2015,33(04):46-50+83.
[4]单继祥,黄勇,苏继川,等.小展弦比飞翼布局新型嵌入面航向控制特性研究[J].空气动力学学报,2015,33(03):296-301.
[5]王学林,肖永飞,毕淑慧,等.机器人柔性抓取试验平台的设计与抓持力跟踪阻抗控制[J].农业工程学报,2015,31(01):58-63.
[6]席东河,申一歌,杜娟,等.一款基于ARM的多自由度人形教育机器人控制系统的设计[J].电子产品世界,2015,22(01):36-39.