一种双极性S函数修饰的非线性船舶航向保持算法

为使船舶航向保持算法更节能，利用闭环增益成形算法设计线性控制器，使用一种双极性S函数修饰原线性控制律. 理论分析表明，该算法在获得同样控制效果情况下，降低了控制能量.以“育鲲”船为例，采用Simulink工具箱进行计算机仿真验证.结果表明，所设计的非线性修饰后的线性控制器具有良好的鲁棒性能，操舵幅值平均降低10%以上.
In order to make the ship course keeping algorithm more energy-efficient, the linear controller was designed by using the closed-loop gain shaping algorithm. Then a kind of bipolar sigmoid function was applied to decorate the former linear controller. Theoretical analysis shows that the proposed algorithm can reduce the control energy when control effect equals to the former. Taking the training ship “Yukun” as an example, and Simulink Toolbox was used to simulate. Results indicate that the designed controller based on nonlinear decoration has the advantages of good robustness, and steering amplitude reduces by more than 10% on average.