摘要
常规的闭环控制是以设定值与输出的误差为反馈信号,提出以设定值与输出之差的正弦函数为反馈信号驱动控制器,在不改变控制律的基础上,以较小的控制器输出取得相同的控制效果。以"育龙"轮为例,给出了用航向偏差的正弦函数驱动的自动舵控制算法的仿真结果,最大初始舵角下降了40%,而控制效果几乎与原控制效果相同,本算法具有节能、安全的优点。
This paper presents a Closed-loop control system in which the sine of the error signal,instead of the signal itself,is taken as the control signal.Same control rule and control effect can be achieved with smaller controller output.The simulation of the ship Yulong controlled by an autopilot with suggested control algorithm was carried out.The simulation results show that the maximum initial rudder angle is reduced by 40% for same control effects.The algorithm has the advantages of safety and energy saving.
出处
《中国航海》
CSCD
北大核心
2011年第1期1-4,共4页
Navigation of China
基金
国家自然科学基金项目(50979009
60974013)
教育部博士点基金(200801510002)
国家973子项目(2009CB320805)
关键词
船舶、舰船工程
闭环增益成形
航向保持
非线性反馈
正弦函数
控制算法
仿真
ship
naval engineering
closed-loop gain shaping
course keeping
nonlinear feedback
sine function
control algorithm
simulation
