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首页> 外文期刊>International Journal of Adaptive Control and Signal Processing >Adaptive ship steering autopilot design with saturating and slew rate limiting actuator
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Adaptive ship steering autopilot design with saturating and slew rate limiting actuator

机译：带有饱和和摆率限制执行器的自适应船舶转向自动驾驶仪设计

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The proposed adaptive ship steering autopilot is based on the internal model control method, which is characterized by a model-based design approach that provides clear connections between the structure of the controller and that of the ship model. Specifically, the controller parameters depends explicitly on the ship model parameters and on a design parameter that specifies the closed-loop system response speed. Once the ship model parameters are estimated on-line, the controlIer parameters are adjusted accordingly to adapt to different operating conditions. A key feature of the proposed approach being that the rudder limit and rudder rate limit are directly taken into the adaptation design consideration. pecifically, a reference conditioning technique that modifies the reference input in such a way that the rudder command is always equal to the actual rudder input into the plant. This allows the controller to exert its full power without attempting to take on values beyond the bounds imposed by the rudder limit and rudder rate limit. Consequently, under different operating conditions, rapid course-changing manoeuvres are achievable without introducing possible instability problem caused by the controller integrator wind-up. Copyright
机译：拟议的自适应船舶操纵自动驾驶仪基于内部模型控制方法，该方法的特征在于基于模型的设计方法，该方法在控制器的结构和船舶模型的结构之间提供了清晰的联系。具体而言，控制器参数明确取决于船舶模型参数和指定闭环系统响应速度的设计参数。在线估计船模参数后，将相应调整控制参数以适应不同的运行条件。所提出的方法的关键特征是将舵极限和舵速率极限直接考虑到适应性设计考虑中。特别地，一种参考调节技术，其以如下方式修改参考输入，即，舵指令始终等于输入到工厂的实际舵输入。这使控制器可以发挥其全部能力，而不必尝试采用超出舵限制和舵速率限制所施加的界限的值。因此，在不同的操作条件下，可以实现快速的换道操作，而不会引入由控制器积分器缠绕引起的可能的不稳定性问题。版权

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