摘要
传统舰船控制在理论基础中以舰船水上运动的二自由度作为参数进行计算,忽略舵机伺服系统中的航向偏差,导致对航行要素的分析出现误差,因此设计一种针对舰船水上纵向运动的控制模型。首先对舰船水上运动过程中的各自由度在舰船运动坐标系中进行分析,并以向量形式的数学方程来描述纵向运动非线性舰船的状态,在驱动力上叠加一个非线性变推力,通过控制航速的方式控制舰船纵摇的幅值,设计变推力开环施加流程,经过相位改变得到相位差,精准跟踪纵摇变化纠正舵机伺服系统航向偏差。仿真实验中,分别使用传统控制模型与设计的非线性数学控制模型进行实验。结果表明,设计模型仿真结果对于各航行要素的分析误差平均控制在5%以内,具有一定有效性。
In the traditional ship control theory, the two degrees of freedom of ship motion on water are taken as the parameters to calculate, and the course deviation in the steering servo system is ignored, which leads to errors in the analysis of navigation elements. Therefore, a control model for ship longitudinal motion on water is designed. Firstly, the degree of freedom of the ship in the process of water motion is analyzed in the ship motion coordinate system, and the vector form of mathematical equation is used to describe the state of the nonlinear ship in longitudinal motion. A nonlinear variable thrust is superimposed on the driving force, and the pitch amplitude of the ship is controlled by controlling the speed. The variable thrust open-loop application process is designed, and the phase difference is obtained by changing the phase to accurately track the pitch change and correct the heading deviation of the steering servo system. In the simulation experiment, the traditional control model and the designed nonlinear mathematical control model are used respectively. The results show that the average error of the design model simulation results for each navigation element is controlled within 5%, which has certain effectiveness.
作者
王辉
WANG Hui(Zhengzhou Vocational University Information and Technology,Zhengzhou 450008,China)
出处
《舰船科学技术》
北大核心
2021年第12期7-9,共3页
Ship Science and Technology
关键词
纵向运动
非线性控制
数学控制模型
longitudinal motion
nonlinear control
mathematical control model
