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应用科学学报 ›› 2001, Vol. 19 ›› Issue (2): 153-156.

• 论文 • 上一篇    下一篇

船舶航迹间接多模态控制方法研究

程启明   

  1. 上海电力学院自动化系, 上海 200090
  • 收稿日期:2000-03-19 修回日期:2000-06-02 出版日期:2001-06-30 发布日期:2001-06-30
  • 作者简介:程启明(1965-),男,江苏盐城人,副教授,硕士.
  • 基金资助:
    中国船舶工业国防科技应用、基础研究基金项目(97J40.5.2);江苏省跨世纪学科带头人科研基金项目(苏科教技[1998]50号);江苏省计算机信息处理技术重点实验室开放基金(苏大科[2000]07号)

The Study on Indirect Multi-mode Control Method for Ship Track-keeping Autopilot

CHENG Qi-ming   

  1. Department of Automation, Shanghai Institute of Electric Power, Shanghai 200090, China
  • Received:2000-03-19 Revised:2000-06-02 Online:2001-06-30 Published:2001-06-30

PDF

83

被引次数

9

摘要： 提出了一种船舶航迹间接多模态控制方法,船舶航向、航迹偏差、转向分别采用P-Fuzzy-PID、BB-P-PID、P-PI-PD-PID多模态控制方法.仿真结果表明此法航迹运行可靠,航迹控制性能良好,能自动捕捉转向点,并精确保持航迹,在航线转向点处能自动进行转向,且转向快速平稳.

关键词: 模糊控制, 自动舵, 多模态控制, 船舶操纵, 航迹控制

Abstract: The track control strategies include direct approach and indirect approach. In this paper, the indirect multi-mode control method for ship track-keeping autopilot is discussed. The track autopilot works properly, its performance is satisfactory. The controller can capture current way point automatically, and keep the trajectory precisely on the planned route. When the ship approaches a way point, it can turn to the new course swiftly and smoothly.

Key words: autopilot, track control, fuzzy control, multi-mode control, ship maneuvering

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