.[delta]e(k); a course deviation threshold e<0> is set; a course deviation e(k) is calculated, wherein e(k)=y<*>(k)-y(k); when an absolute value |e(k)| of the e(k) is greater than a threshold e<1> of a set course state deviation; according to the e(k), an integral separation type PI_CFDL_MFAC controller resolves expected input u(k) of a course system; and a formula ofk=k+1 is achieved, and a current course y(k) of a course ship is updated. By introduction of the proportional item in the control algorithm, the response speed of a system is improved; an idea of integral separation is introduced in the algorithm, thus avoiding the problem that an original control algorithm is directly applied to ship course control to cause system oscillation or even instabilitydue to integral saturation; and introduction of the proportional item and the integral separation idea makes an application range of a CFDL_MFAC theory extend, so that a ship course can quickly and stably converge to a desired course.
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