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Leeuven非线性船舶操纵运动模型考虑了船舶操舵引起的航速损失,利用最小二乘原理对此模型进行了线性化处理。考虑到船舶受到各种遭遇浪向的随机海浪的扰动及航向和航速测量元件存在的量测噪声,应用了Kalman滤波器作为状态观察器。控制系统应用了有积分作用的LQG最优控制技术。设计的自动舵控制系统既有较好的船舶航向控制性能,又能把操舵引起的航速损失减至最小。
Leeuven non-linear ship maneuvering motion model considers the speed loss caused by ship steering and linearizes the model using the least squares principle. Considering that the ship is subjected to a variety of random waves disturbed by waves and the measurement noise of heading and speed measuring elements, a Kalman filter is used as a state observer. The control system uses the LQG optimal control technique with integral function. The designed autopilot control system not only has better performance of ship heading control, but also minimizes the speed loss caused by steering.