船舶航行自抗扰控制器的仿真研究

摘要

This article takes the Nomoto model with the nonlinearity steering engine characteristic as an simulation object.The Active Disturbance Rejection Control technique（ADRC） optimized by adaptive differential evolution algorithm be used as ship navigational c%文章选取带有非线性舵机特性的Nomoto模型作为仿真研究对象。采用经自适应差分算法离线优化过的自抗扰控制器作为船舶航行控制器。仿真结果表明,船舶航行自抗扰控制器在大负载变化和风、浪、流等外界强干扰情况下,具有良好的性能鲁棒性和动态调节能力。