考虑横向风浪干扰下，舰船进入横摇运动状态易偏离期望航向轨迹，为此，研究考虑横向风浪干扰的舰船航向稳定性自动控制算法。对舰船舵机、横向风浪干扰建模，基于所掌握的舰船舵机控制参数、干扰强度，将期望航向参数输入航向控制器，在基于改进BP-PID算法的航向稳定性自动控制方案下，由改进BP神经网络整定PID控制器参数，输出满足期望航向条件的舵角、舵速调节比例系数、微分系数以及积分系数，调节航向，实现航向稳定性自动控制。实验中，横向风浪干扰下，使用此算法控制舰船航向后，舰船航行时首摇角、横摇角、鳍角均方差明显变小，说明该算法可控制舰船按照期望航向稳定航行。
Considering the lateral wind and wave interference, the ship entering the roll motion state is prone to deviate from the expected heading trajectory. Therefore, a ship heading stability automatic control algorithm considering the lateral wind and wave interference is studied. After modeling the ship's rudder and lateral wind and wave interference, this algorithm inputs the expected heading parameters into the heading controller based on the mastered ship's rudder control parameters and interference intensity. Under the improved BP-PID algorithm based heading stability automatic control scheme, the improved BP neural network adjusts the PID controller parameters and outputs the rudder angle and speed adjustment proportional coefficients that meet the expected heading conditions Differential and integral coefficients are used to adjust the heading and achieve automatic control of heading stability. In the experiment, under lateral wind and wave interference, using this algorithm to control the ship's heading significantly reduced the mean squared deviation of bow roll angle, roll angle, and fin angle during navigation, indicating that the algorithm can control the ship to navigate steadily according to the desired heading.
2024,46(9): 143-146 收稿日期：2023-12-27
DOI：10.3404/j.issn.1672-7649.2024.09.024
分类号：TP391
作者简介：董微微（1982 – ），女，硕士，讲师，研究方向为自动控制
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