基于输入端事件触发机制的船舶航向保持控制
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上海交通大学

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国家自然科学基金青年项目(42206228)


Ship Course Keeping Control Based on Input-Event Triggered Mechanism
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shanghai jiaotong university

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    摘要:

    船舶航向保持控制是船舶自动驾驶系统的核心技术之一,广泛应用于提高船舶航行的稳定性与安全性。为了提升船舶在复杂海况下的航向保持性能,提出了一种基于事件触发机制的自适应控制器。通过反步递推算法推导出包含自适应参数的控制律,并根据“育鲲”轮的实际参数进行控制律的具体化。研究中,采用Simulink工具箱建立了风浪干扰模型,并加入不同强度的海浪白噪声,设计了适应当前工况与船舶特性的事件触发条件。仿真结果表明,相较于传统负反馈控制器,基于事件触发机制的自适应控制器在操舵平稳性、响应速度和航向精度方面具有显著优势,能够更好地满足安全航海和绿色航运的需求。

    Abstract:

    Ship course keeping control is a critical component of ship autopilot systems and has garnered significant research interest. To enhance the performance of course keeping under complex sea conditions, this study proposes an adaptive controller based on an event-triggering mechanism. The control law, incorporating adaptive parameters, is derived using a backstepping iterative algorithm, with specific parameters substituted for the "Yukun" vessel. A wind and wave disturbance model is developed using the Simulink toolbox, where white noise of varying intensities is superimposed to simulate sea state disturbances. Event-triggering conditions are designed to align with the operational requirements of the vessel and the prevailing sea conditions. Comparative simulation experiments are conducted to evaluate the performance of the proposed adaptive controller and a traditional negative feedback controller. The results indicate that the adaptive controller outperforms the traditional negative feedback controller in terms of steering smoothness, course stability, and response speed, demonstrating its suitability for ensuring safe and environmentally friendly navigation.

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  • 收稿日期:2025-02-23
  • 最后修改日期:2025-03-19
  • 录用日期:2025-03-21
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