船舶动力定位手柄操作模式PID解耦控制

摘要

针对船舶动力定位手柄操作模式表现出的多变量、强耦合、非线性和时变性等特点,提出了一种增量式PID解耦控制方法.考虑横荡速度与艏摇角速度之间的耦合问题,采用前馈补偿解耦法对船舶的动力学模型进行解耦；根据解耦后的船舶动力学模型,采用增量式PID控制算法分别对纵荡速度、横荡速度和艏摇角3个自由度设计相应的控制器.仿真结果表明,该控制器跟踪快、实时性较好、鲁棒性强,可以满足工程应用的要求.%Aimed at the characteristics of multi-variable, strong coupling, nonliear and time-varying in joystick mode of ship motion control, a control algorithm of incremental PID decoupling is presented. Firstly, to address the coupling problem between sway velocity and yaw rate, the ship kinetic model is decoupled by feedforward compensation decoupling method. Then, incremental PID control algorithm is used according to the decoupling ship kinetic model to design corresponding controller of surge velocity, sway velocity and yaw angle, the simulation results show that the controller can track fast, has good real-time and strong robustness. It also meets the requirements of engineering applications.