针对无人船传统航向控制方法中参数多，调参困难繁琐，且船舶在偏舵负载干扰下，航向稳定后存在稳态误差的问题，在二自由度控制方法的基础上，结合内模控制器，提出一种改进的二自由度内模直接控制方法，消除传统内模控制方法中的不稳定极点引起的静态误差，实现低精度模型的无静差航向控制，该方法不但减少控制器的可调参数，且整定容易。该控制结构将期望航向的跟踪性能与抗负载扰动性能解耦，单独设计调节。通过仿真，在有偏舵干扰时，与传统PID算法、传统内模控制器对比，该控制器在消除静态误差的基础上，具有超调量小，系统稳定更快的特点。
Aiming at the problems of many parameters, difficult and cumbersome parameter adjustment in the traditional heading control method of unmanned ship, and the steady-state error of ship in the interference of rudder deflection load, based on the two degree of freedom control method and combined with the internal model controller, an improved direct control method of two degree of freedom internal model controller is proposed to realize the zero static error heading control of low-precision model. This method not only reduces the design steps of the controller, but also makes the parameter setting easy, The control structure can make the design of set point tracking performance and anti-interference performance independent and adjusted separately, and the adjustable parameters of the controller are less. Through the simulation analysis and comparison with the traditional PID algorithm and the traditional internal model controller, the controller has the characteristics of small overshoot and faster system stability on the basis of eliminating the static error.
2023,45(9): 60-64 收稿日期：2022-04-05
DOI：10.3404/j.issn.1672-7649.2023.09.013
分类号：U675
基金项目：国家自然科学基金资助项目（51604038）；青岛海洋科学与技术试点国家实验室海洋地质过程与环境功能实验室开放基金资助项目（MGQNLMKF201705）
作者简介：马晨翔(1998-),男,硕士研究生,研究方向为无人船运动控制
