基于广义预测控制的船舶航向控制仿真研究

摘要

针对船舶航向控制中传统的控制方法船舶响应速度慢，鲁棒性差以及舵角变化比较频繁和抗风浪流干扰能力差问题，采用了广义预测控制的船舶航向保持和转向算法，其中控制器参数可根据智能规则自动调整。使用MATLAB和SlMULlNK进行仿真，并加入传统的PlD控制进行比较，在船舶航速发生改变使船舶模型发生改变时，仿真结果验证了广义预测控制船舶航向具有更好的鲁棒性，增加风浪流干扰时，结果验证了广义预测控制算法相比于PlD控制具有更好的抗干扰能力。%ln view of the problem of slow response,poor robustness and the rudder angle changes frequently and poor anti-interference in ship course control of the traditional control method,Generalized Predictive Control ﹙GPC﹚is adopted in this paper,the control er parameters can be adjusted according to the rules of intel igence automatical y.Comparing the PlD control er with the GPC control er through SlMULlNK of MATLAB.The results proved that the generalized predictive control ship course has better dynamic performance.