基于Norrbin与Nomoto船舶模型的PID与ADRC控制策略在航向控制中的应用,基于Norrbin与Nomoto船舶模型的PID与ADRC控制策略在航向控制中的应用,船舶航向控制基于Norrb
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基于Norrbin与Nomoto船舶模型的PID与ADRC控制策略在航向控制中的应用,基于Norrbin与Nomoto船舶模型的PID与ADRC控制策略在航向控制中的应用,船舶航向控制基于Norrbin或者Nomoto船舶模型PID控制 ADRC控制,船舶航向控制; Norrbin/Nomoto船舶模型; PID控制; ADRC控制,基于Norrbin/Nomoto模型的船舶航向PID与ADRC控制技术 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90404112/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90404112/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">船舶航向控制是船舶自动化领域中的一个重要研究方向<span class="ff2">。</span>对于航行中的船舶而言<span class="ff3">，</span>保持稳定的航向是</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">至关重要的<span class="ff3">，</span>因为船只的航向直接影响到航行的安全性和稳定性<span class="ff2">。</span></div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">在船舶航向控制中<span class="ff3">，<span class="ff4">Norrbin<span class="_ _0"> </span></span></span>模型和<span class="_ _1"> </span><span class="ff4">Nomoto<span class="_ _0"> </span></span>模型是两种常用的数学模型<span class="ff3">，</span>用于描述船舶的动力学</div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">特性和航向响应<span class="ff2">。<span class="ff4">Norrbin<span class="_ _0"> </span></span></span>模型是一种线性模型<span class="ff3">，</span>采用一阶微分方程来描述船舶的航向响应<span class="ff2">。</span>而</div><div class="t m0 x1 h2 y5 ff4 fs0 fc0 sc0 ls0 ws0">Nomoto<span class="_ _0"> </span><span class="ff1">模型是一种二阶微分方程<span class="ff3">，</span>更加准确地描述了船舶的航向动力学特性<span class="ff2">。</span></span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">在船舶航向控制中<span class="ff3">，</span>常用的控制方法包括<span class="_ _1"> </span><span class="ff4">PID<span class="_ _0"> </span></span>控制和<span class="_ _1"> </span><span class="ff4">ADRC<span class="_ _0"> </span></span>控制<span class="ff2">。<span class="ff4">PID<span class="_ _0"> </span></span></span>控制是一种经典的控制方法<span class="ff3">，</span></div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">通过比较实际航向和期望航向<span class="ff3">，</span>利用比例<span class="ff2">、</span>积分和微分控制器对舵角进行调节<span class="ff3">，</span>以实现船舶航向的稳</div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">定控制<span class="ff2">。<span class="ff4">PID<span class="_ _0"> </span></span></span>控制简单易懂<span class="ff3">，</span>调节参数较为简单<span class="ff3">，</span>因此在船舶航向控制中得到了广泛应用<span class="ff2">。</span>根据市场</div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">价格<span class="ff3">，<span class="ff4">PID<span class="_ _0"> </span></span></span>控制器的价格通常在<span class="_ _1"> </span><span class="ff4">109<span class="_ _0"> </span></span>元左右<span class="ff2">。</span></div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">与<span class="_ _1"> </span><span class="ff4">PID<span class="_ _0"> </span></span>控制相比<span class="ff3">，<span class="ff4">ADRC</span>（<span class="ff4">Active Disturbance Rejection Control</span>）</span>控制是一种较新的控制</div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0">方法<span class="ff3">，</span>能够更好地应对船舶航向控制中的扰动和不确定性<span class="ff2">。<span class="ff4">ADRC<span class="_ _0"> </span></span></span>控制通过构建扰动观测器<span class="ff3">，</span>实时估</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">计和抵消扰动对舵角的影响<span class="ff3">，</span>从而实现对船舶航向的精确控制<span class="ff2">。</span>由于<span class="_ _1"> </span><span class="ff4">ADRC<span class="_ _0"> </span></span>控制器设计和调参相对较</div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">为复杂<span class="ff3">，</span>价格根据调参工作量而定<span class="ff2">。</span></div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">在船舶航向控制的实际应用中<span class="ff3">，</span>选择合适的控制方法和模型对于船舶的安全性和稳定性至关重要<span class="ff2">。</span>根</div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">据具体需求和应用场景<span class="ff3">，</span>工程师需要权衡不同控制方法的优劣<span class="ff3">，</span>选择适合的模型和控制策略<span class="ff2">。</span>同时<span class="ff3">，</span></div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">对于<span class="_ _1"> </span><span class="ff4">ADRC<span class="_ _0"> </span></span>控制而言<span class="ff3">，</span>调参工作量可能较大<span class="ff3">，</span>需要充分考虑实际情况和预算<span class="ff2">。</span></div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">总之<span class="ff3">，</span>船舶航向控制是一个复杂而关键的问题<span class="ff2">。</span>在实际应用中<span class="ff3">，</span>工程师可以根据船舶特性和要求选择</div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">适合的船舶模型<span class="ff3">，</span>如<span class="_ _1"> </span><span class="ff4">Norrbin<span class="_ _0"> </span></span>模型或<span class="_ _1"> </span><span class="ff4">Nomoto<span class="_ _0"> </span></span>模型<span class="ff3">，</span>并结合<span class="_ _1"> </span><span class="ff4">PID<span class="_ _0"> </span></span>控制或<span class="_ _1"> </span><span class="ff4">ADRC<span class="_ _0"> </span></span>控制来实现船舶航向</div><div class="t m0 x1 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">的稳定控制<span class="ff2">。</span>在选择控制方法时<span class="ff3">，</span>需要考虑不同控制方法的优缺点<span class="ff3">，</span>以及调参工作量和成本因素<span class="ff2">。</span>只</div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">有合理选择和应用控制方法<span class="ff3">，</span>才能保证船舶的航行安全和稳定性<span class="ff2">。</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>