船舶航迹间接多模态控制方法研究

摘要

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 waypoint automatically, and keep the trajectory precisely on the planned route. When the ship approaches a waypoint, it can turn to the new course swiftly and smoothly.%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.