基于鲁棒自适应控制算法的船舶航迹舵样机设计与开发

李博, 张国庆, 张显库, 聂昌行

doi:10.16411/j.cnki.issn1006-7736.2024.02.003

大连海事大学学报 >

2024 , Vol. 50 >Issue 2: 23 - 30

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.003

基于鲁棒自适应控制算法的船舶航迹舵样机设计与开发

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(大连海事大学航海学院，辽宁大连 116026)

李博（1998 — ），男，博士生，研究方向：船舶运动控制。张国庆*（1987 — ），男，博士，教授，博士生导师。张显库（1968 — ），男，博士，教授，博士生导师。聂昌行（2003——），男，本科生，研究方向：船舶运动控制。通信作者：张国庆，e-mail: zgq_dlmu@163.com。

网络出版日期: 2023-11-30

基金资助

国家自然科学基金项目（52171291），辽宁省应用基础研究计划项目(2023JH2/101600039)，辽宁省“兴辽英才计划”青年拔尖人才(XLYC2203129)，大连市杰出青年科技人才项目(2022RJ07)，大连市重点领域创新团队支持计划(2020RT08)。中央高校基本业务费专项资金资助项目（3132019301；3132020301）

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Design and development of ship navpilot prototype based on the robust adaptive control

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(Navigation College, Dalian Maritime University，Dalian 116026，China)

Online published: 2023-11-30

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摘要

航迹舵是远洋商船的必要核心设备，能够减轻船舶驾驶人员负担，提升航行安全性与经济性，是船舶智能化发展的热点方向。本文以鲁棒自适应航迹保持算法为核心技术，考虑航海工程实际操纵需求，应用嵌入式Linux技术，开发一套具有航海操纵、监控及报警、系统信息显示功能，硬件接口符合国际标准要求的航迹舵样机。最后以“育鲲轮”为实验对象，在随机海洋环境干扰条件下，根据海上导航和无线电通信设备及系统-航迹控制系统-操作和性能要求、测试方法及要求的测试结果 (GB/T 37417-2019) 国家标准测试场景一对航迹舵进行有效性测试。结果表明，航迹舵能够实现对跨0°经纬航线的稳定跟踪控制，且航向误差小于2°，航迹稳态误差小于13m，满足标准要求。本文提出的航迹舵对船舶高端航行装备国产化具有重要参考意义。

关键词： 航迹舵样机; 航迹保持; 鲁棒自适应控制; Nomoto数学模型

本文引用格式

李博, 张国庆, 张显库, 聂昌行 . 基于鲁棒自适应控制算法的船舶航迹舵样机设计与开发[J]. 大连海事大学学报, 2024 , 50(2) : 23 -30 . DOI: 10.16411/j.cnki.issn1006-7736.2024.02.003

Abstract

As the necessary core equipment of ocean-going merchant ships, ship navpilot can reduce the burden of ship pilots, improve navigation safety and economy, and is the hot direction of intelligent ship development. In this paper, focuses on the robust adaptive track keeping algorithm as the core technology, considering the practical control requirements of navigation engineering and using embedded Linux technology, a set of navpilot prototype with navigation control, monitoring and alarm, system information display functions, hardware interface in line with the requirements of international standards is developed. Finally, taking "Yu-Kun" as the experimental object, the effectiveness of the ship navpilot was tested according to the Maritime navigation and radiocommunication equipment and systems-Track control systems-Operational and performance requirements，methods of testing and required test results (GB/T 37417-2019) national standard test scene under random Marine environment interference conditions. The results show that the ship navpilot can realize the stable tracking control of the course spanning 0° longitude and latitude, and the course error is less than 2° and the track steady-state error is less than 13m, which meets the standard requirements. The course rudder proposed in this paper has important reference significance for the localization of high-end navigation equipment.

Key words： navpilot; track keeping; robust adaptive control; Nomoto mathematical model

参考文献

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