Abstract:

How to design the ship track control parameters to achieve the desired control performance is focused on. Centering on the preset target for ship track control, the zero balancing point of ship track local optimal analytical solution is solved based on optimum control theory firstly. Based on ship tracking control global asymptotical stability condition and physic meaning of track nonlinear proportion derivative (NPD) control law, the analytical formula of ship straightline track NPD control law is designed. This formula describes the relations between ship track control performance and ship motion parameters, and the ship track closed loop control system is global asymptotic stable. Simulation results demonstrate the effectiveness of the ship track NPD control algorithm. Further real ship experiment results indicate that the track controller designed by NPD control analytical formula achieves the expected control precision and performance.