船舶动态转向避碰行动数学模型

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大连海事大学学报 ›› 2014, Vol. 40 ›› Issue (1) : 17-20.

船舶动态转向避碰行动数学模型

王仁强¹,赵月林²,谢宝峰¹

作者信息 +

Dynamic mathematical model for collision avoidance by ship steering

WANG Ren-qiang¹, ZHAO Yue-lin², XIE Bao-feng¹

Author information +

文章历史 +

摘要

阐述避碰几何数学模型中没有考虑船舶操纵性的不足，从船舶操纵运动角度出发，结合现代非线性滑模控制理论，建立船舶动态转向避碰行动数学模型.利用Matlab搭建仿真平台对该数学模型进行实例仿真.结果表明,船舶动态转向避碰行动数学模型可有效解决没有考虑船舶操纵性的不足.

Abstract

The paper elaborated the defects of geometry mathematic models for ship collision avoidance without considering ship maneuverability, and established a suitable ship dynamic mathematical model of ship steering combining with modern nonlinear sliding mode control theory from the perspective of the ship maneuvering. Example simulation conducted through simulation platform by means of Matlab show that the proposed ship dynamic mathematical model for collision avoidance can solve those defects effectively.

导出引用

王仁强, 赵月林, 谢宝峰. 船舶动态转向避碰行动数学模型[J]. 大连海事大学学报. 2014, 40(1): 17-20

WANG Ren-qiang, ZHAO Yue-lin, XIE Bao-feng. Dynamic mathematical model for collision avoidance by ship steering[J]. Journal of Dalian Maritime University. 2014, 40(1): 17-20

参考文献

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