文档介绍：基于双螺旋桨差动调节的双体船航向智能控制研究
刘杨王开宇
(哈尔滨工程大学自动化学院,邮编:150001)
摘要:设计了基于双螺旋桨差动调节的双体船航向智能控制系统,通过系统辨别得到船舶航向运动的数学模型,并在该模型的基础上运用模糊控制算法,最后将得到的参数赋予双螺旋桨,同时通过双螺旋桨转速的差动控制,可以达到控制船舶艏摇运动。在系统运行过程中,不断检测航向角偏差的差值,若该值超出设定范围,则重新辨别模型,优化参数。对系统进行仿真,仿真结果表明,与基于单纯形法优化的PID控制系统相比,该系统对于海情的变化具有较好的自适应能力。该系统简单易于实现,具有工程应用价值。
关键词:双螺旋桨推进;航向保持;模糊控制
Abstract: The intelligent control of catamaran based on the differential control to double propellers is designed. The catamaran dynamic model was acquired by system identification. The algorithm of fuzzy control was performed, and the parameters were given to the double propellers, the differential control to double propellers is proposed to form yawing control moment to control the catamaran course. When the system ran, the standard deviation of yaw-angel error was calculated. If the value of standard deviation overstepped the enacted bound, the dynamic model should be identified, and the PID optimized by simplex method, this system had good adaptive ability for the variety of ocean condition. This system is simple and feasible, and it has the engineering application value.
Key words: propulsion with double propellers; course keeping; fuzzy control
引言
近年来,双体船由于良好的操纵性,阻力峰不明显、装载量大等特点在当今船舶行业得到了广泛的关注。本文根据某型双体船采用双螺旋桨作为其动力系统,提出一种基于双螺旋桨差动调节的双体船航向智能控制方法。通过引入航向误差检测环节、系统辨别环节和模糊控制,是双体船航向保持自适应的状态。仿真结果表明,本文所设计的双螺旋桨差动调节航向智能控制系统控制效果良好,对海情的变化具有较好的适应能力。
1 双体船航向运动非线性模型
对于在水面内运动的双体