大连海事大学学报 >
2016 , Vol. 42 >Issue 3: 15 - 19
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.03.003
一种双极性S函数修饰的非线性船舶航向保持算法
收稿日期: 2015-12-30
修回日期: 2016-01-29
网络出版日期: 2016-01-29
基金资助
国家自然科学基金资助项目(51109020).
A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm
Received date: 2015-12-30
Revised date: 2016-01-29
Online published: 2016-01-29
张显库 , 杨光平 , 张强 . 一种双极性S函数修饰的非线性船舶航向保持算法[J]. 大连海事大学学报, 2016 , 42(3) : 15 -19 . DOI: 10.16411/j.cnki.issn1006-7736.2016.03.003
In order to make the ship course keeping algorithm more energy-efficient, the linear controller was designed by using the closed-loop gain shaping algorithm. Then a kind of bipolar sigmoid function was applied to decorate the former linear controller. Theoretical analysis shows that the proposed algorithm can reduce the control energy when control effect equals to the former. Taking the training ship “Yukun” as an example, and Simulink Toolbox was used to simulate. Results indicate that the designed controller based on nonlinear decoration has the advantages of good robustness, and steering amplitude reduces by more than 10% on average.
Key words： ship; course keeping; nonlinear decoration; closed-loop gain shaping
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