航海模拟器中适应式鲁棒航迹保持算法

摘要

For conveniently carrying out training using marine simulator without frequently changing algorithms and parameters to fit ships of particular size, a method? Which calculates the maneuverability indices and incorporate the results into controller design, is adopted. Based on closed-loop gain shaping algorithm, a general adaptive robust track-keeping algorithm is given. The control effectiveness is verified by tests of 11 ships. The algorithm has obvious physical meaning and is simple in implementation with certain robustness.%为了更方便地使用航海模拟器进行培训,减少大船、小船自动操纵中的算法切换或参数调整.采用将船舶操纵性指数计算代入控制器设计中的方法,基于闭环增益成形算法,给出一种通用的适应式鲁棒航迹保持算法.通过对11条船的测试,控制效果令人满意.该算法实施过程简单、物理意义明显且具有一定的鲁棒性.