为使航向自动舵在简捷鲁棒控制的基础上实现舵减摇功能，在小幅度增加控制成本的前提下增强船舶抗风浪能力，设计具有船舶航向保持、航向改变和舵减摇三种工作模式的简捷鲁棒优化控制系统.该系统在船舶运动状态和海况发生变化后，通过检测航向偏差和横摇角的标准差值是否超出设定阈值，进而适时地利用遗传算法优化控制系统参数.以非线性船舶运动模型为控制对象的仿真试验结果表明，该控制系统在船舶横摇自然频率附近较宽频带内减摇效果显著，并具有较好的转向和航向保持性能.控制器参数具有较好的自适应调整能力.
Abstract
In order to achieve rudder roll damping for traditional autopilot and strengthen the safety of ship in rough seas, a simple robust control system is set up with 3 operating modes, including course-keeping, coursechanging and rudder roll damping. The controlling parameters can be optimized based on GA by detection of the standard deviation thresholds of course error and roll angle, when the sea state or the ship motion state changes. Simulation tests are carried on a nonlinear ship motion model, and the results indicate that the system can achieve good performance in course-keeping, course-changing and roll reduction in a wind band near the natural roll frequency and good parameters adaptivity to sea state.
关键词
自动舵 /
舵减摇 /
鲁棒优化 /
遗传算法
Key words
autopilot /
rudder roll damping /
robust optimization /
generic algorithm
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参考文献
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基金
国家自然科学基金资助项目(50979009)； 国家重点基础研究发展计划（973）子项目(2009CB320805)；中央高校基本科研业务费专项资金(2012TD002).
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