中国舰船研究2025，Vol.20Issue(1)：272-277,6.DOI:10.19693/j.issn.1673-3185.03728
恶劣海况下闭环增益成形算法在渔船航迹保持控制的应用
Fishing vessel track-keeping control based on closed-loop gain shaping algorithm under rough sea conditions
摘要
Abstract
[Objective]In order to solve the track-keeping problem of a fishing vessel under rough sea con-ditions,a separated track-keeping controller is proposed.[Methods]The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm,and an arctan function is introduced to effectively solve the problem of the system's excessive control energy.At the same time,an integral separation design is used to solve the integral term influence of conventional PID(proportion integration differentiation)controllers on the transient performance of the system.[Results]Based on the results of simulation experiments on a common 32.98 m fiberglass reinforced plastic(FRP)trawler(model SDB8102)sailing under force 7 of the Beaufort wind scale,the steady state trajectory error is less than 3 m,which verifies that the method is safe,feasible,concise and effective.[Conclusion]The results of this study can provide useful references for fishing vessel track-keeping control,as well as the intelligent level enhancement of fishing vessel equipment.关键词
渔船/运动控制/航迹保持/反馈控制/非线性反馈/闭环增益成形算法/恶劣海况Key words
fishing vessels/motion control/track-keeping control/feedback control/nonlinear feed-back/closed-loop gain shaping algorithm/rough sea conditions分类
交通工程引用本文复制引用
隋江华,郭特尔,宋纯羽..恶劣海况下闭环增益成形算法在渔船航迹保持控制的应用[J].中国舰船研究,2025,20(1):272-277,6.基金项目
辽宁省教育厅2023年度高校基本科研资助项目(JYTQN2023131) （JYTQN2023131）
