为解决船舶导航系统跟踪精度受限、艏向控制稳定性差等问题，提出船舶导航系统智能控制与优化方法。以船舶动力学模型为控制设计基础，运用视线（Line of Sight，LOS）导航算法，通过轨迹偏差计算期望艏向角，简化航迹控制为艏向角控制；引入坐标补偿策略，依据航段方位角差修正转向偏差，优化期望艏向角，减少航迹切换误差；以优化后的期望艏向角为线性自抗扰控制器（Linear Active Disturbance Rejection Controller，LADRC）输入，经扩张状态观测器（Extended State Observer，ESO）估计干扰并补偿后，结合比例-微分（Proportional-Derivative，PD）控制律输出信号控制舵机转向，实现船舶导航智能优化控制。实验结果显示，该方法的应用可以降低期望艏向角波动，避免航迹切换时艏向突变；使舵角输出更平稳，增强航向控制稳定性；获取贴近规划路径的导航路径，缩小航迹偏差。
In order to solve the problems of limited tracking accuracy and poor heading control stability of ship navigation system, an intelligent control and optimization method of ship navigation system is proposed. Based on the ship dynamics model, the expected heading angle is calculated by using the Line of Sight (LOS) navigation algorithm, and the track control is simplified to heading angle control. The coordinate compensation strategy is introduced to correct the steering deviation according to the azimuth difference of the flight segment, optimize the expected heading angle and reduce the track switching error; With the optimized expected heading angle as the input of linear active disturbance rejection controller (LADRC), the disturbance is estimated and compensated by Extended State Observer (ESO), and then the steering of the steering gear is controlled by the output signal of Proportional-Derivative (PD) control law, so as to realize intelligent optimal control of ship navigation. The experimental results show that the application of this method can reduce the fluctuation of expected heading angle and avoid the sudden change of heading during track switching. Make the rudder angle output more stable and enhance the stability of course control; Obtain the navigation path close to the planned path and reduce the track deviation.
2025,47(15): 129-132 收稿日期：2025-3-7
DOI：10.3404/j.issn.1672-7649.2025.15.021
分类号：U674
作者简介：赵越(1977-),男,副教授,研究方向为航海技术及智能船舶控制
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