Study On Adaptive Control Of Ship Course Based On Golden Section Method

Based on the sdudy of golden-section method, a ship course adaptive controller has been designed in this article,and then simulinked the controller when the model parameters was changed and the interference was added to the systems.As a main reseach and designing topic of ship-motion- concorl,ship course controller is an important research field of ship motion control issues.In morden society,it is a great relationship with hip course controller for ship-navigation's economical efficiency,safety and amenity.Many researchers at home or abroad have been making unremitting efforts to improve the maneuverability of the ship.Howerer, it is of significantly importance to ensure the stability of the closed-loop system and dynamic quality through the starting process of adaptive control system. The golden-section adaptive control is mainly for such problems.It is a feedback control strategy which is combined with the golden-section and minimum variance.At the beginning of the paper, the history of the development, research situation in present of autopilot at home and abroad were reviewed and summarized.Then, there was an simple principle of automatic control of the rudder and the ship motion mathematical model and the direction control for the mathematical model of wind, wave and fluid interference based on the analysis of ship maneurving motion dynamic function. Subsequently, the casual principle of ship course control was introduced. In the meanwhile, there was a rescach on tridiontional PID mathematic model of autopilot. There was an explicit elaboration on the control methed of autopilot. Firstly, minimum variance control was bringing up and realized.then introduced the basic principles and the development of golden-section method in recent years, deduced the process to design the controller by golden-section method controller, this method controller design has the advantages such as simple, convenient debug, robust, smoothly transition process, easy to project implementation and so on. According to the Jury stability criterion, the stability of the uncertain parameters valuations could be testified by feedback control strategy which is combined with the golden-section and minimum variance. Especially for goden-section adaptive contol,the stability of the closed-loop system was guaranteed as it the parameter estimation does not converge when the system in the interim phase.There was no need to cut and try the controller parameter at the scene for the control system with common control propeties Target on ship coursing control, ship course controller was designed through the golden section method. To facilitate the learning and research, a kind of ship course controller with knowning ship motion mathematical model was designed at first, then a kind of ship course controller with uncertain ship motion mathematical model patameters and mathematical model of wave interference was designed based on satisfied simulation results.The ship steering controller was simulated in Matlab's Simulink simulation environment. The simulation results show that the controller can follow the change of the ship course very well, control the rudder angle reasonable change and does not appear frequently operate the rudder. Especially when there is a big perturbation in the ship model, the simulation result is still very well in the case of the same controller parameters. It shows that the controller designed by this method has strong robustness.