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Ship course control method and system

A heading control and ship technology, applied in the direction of control/regulation system, two-dimensional position/channel control, non-electric variable control, etc., can solve the problems such as the inability to reduce the rudder frequency and the large amount of calculation, so as to ensure the transient convergence Performance, the effect of reducing the frequency of steering

Active Publication Date: 2022-01-04
BEIJING HIGHLANDER DIGITAL TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing course control method has a large amount of calculation and cannot reduce the frequency of rudder steering, the purpose of the present invention is to provide a ship course control method and system

Method used

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  • Ship course control method and system

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Experimental program
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Effect test

Embodiment approach

[0146] An optional implementation manner, the first-order Nomoto model of ship heading control is converted into a state space model, including:

[0147] Determine the first-order Nomoto model: ;

[0148] The state space model is obtained by combining the heading and turning rate of the ship:

[0149] ;

[0150] ;

[0151] in, is the ship model parameter, is the ship model parameter, is the turning rate, is the rudder angle value of the ship, is the amount of external disturbance, is the derivative of the turning rate, is the derivative of heading angle, is the disturbance variable.

[0152] In an optional implementation, the heading error of the ship is obtained through the state space model, and a function transformation is performed on the heading error to obtain a transformed function, so that the heading error converges within a preset limit range within, including:

[0153] Determine the heading error: ;

[0154] Perform function transformati...

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Abstract

The invention discloses a ship course control method. The method comprises the following steps: converting a first-order wild model for ship course control into a state space model; obtaining the course error of the ship through the state space model, performing function transformation on the course error, obtaining a transformed function, and converging the course error within a preset limit range; designing a filtering variable through the transformed function; designing a Lyapunov function through the filtering variable; obtaining a control law and an adaptive law of course control according to a Lyapunov function; and controlling the course of the ship through a control law and a control period, wherein the control period is obtained according to a first-order wild model. The invention further discloses a ship course control system. The ship course control method and the ship course control system have the beneficial effects that external interference can be automatically estimated, and control parameters are automatically adjusted along with changes of an external environment; and meanwhile, the transient convergence performance of errors can be guaranteed, and the control period of the ship is automatically matched according to the ship type so as to reduce the steering frequency.

Description

technical field [0001] The present invention relates to the technical field of navigation control, in particular, to a ship course control method and system. Background technique [0002] Some of the existing ship heading control methods need to be realized based on model identification, and some need a large number of complex calculations to be realized. The existing heading control method cannot guarantee the transient convergence performance of heading error and does not consider the reduction of rudder frequency, so the control cycle is short. Contents of the invention [0003] In order to solve the problem that the existing course control method has a large amount of calculation and cannot reduce the frequency of rudder steering, the purpose of the present invention is to provide a ship course control method and system. [0004] The invention provides a method for controlling the course of a ship, the method comprising: [0005] Transform the first-order Nomoto mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 马亚萍
Owner BEIJING HIGHLANDER DIGITAL TECH