摘要
针对船舶运动特性随船速和装载变化导致航向控制系统性能下降问题,论文提出了一种基于最小二乘算法的航向控制系统设计方法。利用最小二乘算法对船舶运动模型参数进行在线辨识,利用辨识出的K、T参数动态调整航向控制系统参数,提高控制系统对船舶运动特性变化的适应能力。基于Matlab/Simulink仿真平台构建仿真环境,对船舶航向控制系统进行闭环仿真,仿真结果表明,论文提出的辨识方法能够准确的辨识K、T参数,基于辨识参数动态调整的航向控制器对船舶运动特性变化具有更好的控制性能。
For the problem that the performance of heading control system deteriorates due to the change of ship motion charac-teristics with ship speed and load,a design method of heading control system based on least square algorithm is proposed in this paper.The least square algorithm is used to identify the parameters of the ship motion model online,and the identified K and T param-eters are used to dynamically adjust the parameters of the heading control system,so as to improve the adaptability of the control sys-tem to the changes of the ship motion characteristics.The simulation environment is built based on Matlab/Simulink simulation plat-form,and the closed-loop simulation is carried out on the ship heading control system.The simulation results show that the pro-posed identification method can accurately identify K and T parameters,and the heading controller based on the dynamic adjustment of identification parameters has better control performance for the change of ship motion characteristics.
作者
刘洋
苏祥宇
王龙金
LIU Yang;SU Xiangyu;WANG Longjin(Qingdao University of Science and Technology,Qingdao 266061)
出处
《计算机与数字工程》
2025年第8期2145-2150,共6页
Computer & Digital Engineering
关键词
航向控制系统
最小二乘法
自适应控制
course control system
least squares method
adaptive control
