Research And Design Of Ship Steer Controller On Performance Estimate

With the rapid development of shipping and deteriorating of oil crisis, there has been growing attention devoted to the studies of how to achieve economical shipping. The automatic instrument of ship maneuvering named automatic steer, it is a important equipment in shipping maneuvering, it is used to maintain a given direction or track. Traditional design of PID steer does not have a normative rule to estimate. It just considers the precision of course, which result in more steering and cost.It adopts linear quadratic performance index to estimate traditional PID steer in this paper. This index considers best tracking performance under control energy constraint. This paper designs a method to estimate traditional PID steer and simulated result prove it feasible. This paper studies optimal tracking problem of linear time-invariant systems and gets the optimal result of linear quadratic performance index dt. The result can be expressed by a simple expression, which can be used to calculate the performance index and estimate controller.Based the optimal result of performance index, this paper analyze uncertainty of ship. And a new guaranteed performance index accuracy algorithm was developed. The sensitivity optimal performance index to uncertainty of ship and bound of values that J takes under parameter changes are also considered and analyzed.