Research Of Optimal Control Of Ship Heading And Using SIMULINK For Simulation

Along with the 21 century strong developing of ocean economy, the shipping business present infinite force of vitality, because of sailing in the complicated weather and geography environment, the requestion of safe and economical voyage of ship is higher and higher, how to manipulate and control ships accurately arriving to purpose port on time and safely is an important problem.Now the manipulation of ship widely used the way that the automatic pilot controls hydraulic rudder machine to make the ship voyage according to the driver move to perhaps and certainly heading or settle track. In the trial and after delivery of ships the hydraulic system usually exists leak because of liquid press dynamic impact, The equilibrium valve and pump work unsteadily, then influence the credibility of the whole system.In the study of automatic pilot, generally pay attention to the control function. This text based on the manipulate of ships according to the actual demand, according to the one rank line model and the theories of modern optimal control, analyze the movement detail of the rudder machine in small turning angle, consider the liquid presses system of motion and credibility, also after paying attention to the turning speed of rudder machine and the press fluctuation of hydraulic system design automatic pilot(controller), optimize the value ofλaccording to the heading control mathematical model with physically manipulation.Further more considering the two rank line model and added supposed wave interference adopt the SIMULINK tool of Matlab software to imitate the control system, the imitation indicates the response curve of heading and turning instable.Based on the Lyapulov stability theories and LQG design the nonlinear PID controller. Considering system impact of Press system appropriately add dead area mold piece to reduce the sensitivity of high frequency.Computer simulation results demonstrate that these kinds of autopilot have high precision and stabilization for heading keeping, so as to be used to training steersman.