恶劣海况下闭环增益成形算法在渔船航迹保持控制的应用

Fishing ship track keeping control based on closed-loop gain shaping algorithm under rough sea

    摘要
  • 摘要:
    目的 为解决渔船在恶劣海况下的航迹保持问题，提出一种分离式航迹保持控制器。
    方法 采用非线性反馈法对闭环增益成形算法进行改进，并引入反正切函数以有效解决系统控制能量过大的问题。同时，通过积分分离式设计，以解决常规PID控制器中积分项对系统暂态性能的影响。
    结果 SDB8102型32.98 m玻璃钢拖网渔船在蒲氏7级风下的仿真实验结果表明，该航迹保持算法的稳态误差小于3 m，验证了其实用性与稳定性。
    结论 该研究成果可为渔船航迹保持控制以及渔船装备的智能化水平提升提供参考。

     

    Abstract:
    Objectives In order to solve the track keeping problem of fishing ship in rough sea, a separated track keeping controller is proposed.
    Methods The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm, and an arctan function is introduced to effectively solve the problem of excessive control energy of the system. At the same time, an integral separation design is used to solve the integral term influence in conventional PID controllers on the transient performance of the system.
    Results Based on the results of simulation experiments on a common 32.98 m fiberglass reinforced plastic (FRP) trawler (model SDB8102) under 7-level winds, the steady state trajectory error is less than 3 m, which verifies the method is safe, feasible, concise and effective.
    Conclusions The research results can provide a reference for fishing ship track keeping control as well as the intelligent level enhancement of fishing ship equipment.

     

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