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Method and system for controlling ship course

A heading control and ship technology, applied in the control/regulation system, two-dimensional position/channel control, non-electric variable control, etc., can solve the problems that the rudder frequency cannot be reduced, the calculation amount is large, etc., and the transient convergence can be guaranteed Performance, the effect of reducing the frequency of steering

Active Publication Date: 2022-03-15
BEIJING HIGHLANDER DIGITAL TECH
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  • Summary
  • 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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  • Method and system for controlling ship course
  • Method and system for controlling ship course
  • Method and system for controlling ship course

Examples

Experimental program
Comparison scheme
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, comprising: transforming the first-order Nomoto model of ship course control into a state space model; obtaining the course error of the ship through the state space model, and performing function transformation on the course error to obtain the transformed function, so that the heading error converges within the preset limit range; the filter variable is designed through the transformed function; the Lyapunov function is designed through the filter variable; the control law and adaptive law of heading control are obtained according to the Lyapunov function; The course of the ship is controlled by the law and the control period, and the control period is obtained according to the first-order Nomoto model. The invention also discloses a ship heading control system. The beneficial effects of the invention are: it can automatically estimate the external disturbance, and the control parameters can be automatically adjusted as the external environment changes; The cycle is automatically matched according to the ship type to reduce the frequency of steering.

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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 马亚萍
Owner BEIJING HIGHLANDER DIGITAL TECH