基于线性二次调节器的变波浪和风力条件下的不完全驱动船舶最优路径跟随控制器设计（英文）
作者机构：Centre for Marine Technology and Ocean Engineering (CENTEC) Instituto Superior Técnico Universidade de Lisboa
出 版 物：《Journal of Marine Science and Application》 (哈尔滨工程大学学报(英文版))
年 卷 期：2024年第4期
页 面：927-946页
核心收录：
学科分类：08[工学] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程]
基 金：supported by the Portuguese Foundation for Science and Technology (Funda??o para a Ciência e Tecnologia-FCT) the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering (Grant No. UIDB/UIDP/00134/2020) funded the first author for his doctoral fellowship (Grant No. 2023.03496.BD)
摘 要：This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states, wave, and wind directions. The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path. Gains are optimised using a genetic algorithm and a comprehensive cost function. The analysis covers a range of wave attack directions and sea states to evaluate the controller performance. Results demonstrate effective convergence to the desired path, although a steady-state error persists. Heading and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations. The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning. This research contributes insights into optimising and evaluating path-following controllers for ship navigation.
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