为无人水面舰艇设计自适应自动驾驶仪

D. Vo, V. Pham, D. Nguyễn
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引用次数: 5

摘要

当今世界,由于全球经济的发展,人类对海洋运输的需求越来越大。因此,开发船舶自动驾驶仪来帮助船长驾驶船舶成为一个问题。因此,船舶自动驾驶系统的安全性受到了世界上许多工程师的关注。本文主要研究了基于回溯法的自适应自动驾驶仪的设计、建模和仿真。本研究还将采用海洋级船舶的Nomoto一阶模型来模拟和检查船舶在路径点定义的路径下的路径跟踪能力。最后给出了船舶交叉跟踪误差和航向误差的仿真结果。在MATLAB Simulink工具中对自适应自动驾驶仪进行仿真。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design an Adaptive Autopilot for an Unmanned Surface Vessel
Nowadays, the more and more demand of the human on marine transportation increases rapidly because of the development of global economy. So, it makes a matter of developing ship autopilot to help the captain steering the ship. Therefore, the ship autopilot is subjected to security by many engineers in the world. This paper focuses on designing, modelling and simulating an Adaptive autopilot using Backstepping approach for the Marine Class Vessel. This study will also employ the Nomoto first-order model of the Marine Class Vessel to simulate and examine the Path-following capability of the ship with a path defined by waypoints. Finally, this paper will illustrate the simulation result about cross-tracking error and heading error of the ship. The Adaptive autopilot will be simulated in MATLAB Simulink Tool.
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