Ship heading and trajectory control method based on L1-GPR

参数	数值
船模比	1∶45.714
垂直线长L_pp/m	7
水线长L_wl/m	7.120 4
水线宽B_wl/m	1.268 8
型深D/m	0.656 3
吃水d/m	0.455 0
方形系数C_B	0.809 8
排水体积/m³	3.272 4
重心纵向坐标L_CG/m	0.244
舵面积/m²	0.065 4
舵高h/m	0.346
T₁/s	11.454 0
T₂/s	5.199 2
T₃/s	3.838 2
K/s⁻¹	0.166 5

Table 2. simulation condition
View table
View in Article
Table 2. simulation condition
工况号工况类型仿真实验类型
1 突发干扰航向控制研究
2 时变扰动航向控制研究
3 突发干扰航迹控制研究
4 时变扰动航迹控制研究

Table 3. Statistics on the effectiveness of heading control under sudden disturbances (Case 1)
View table
View in Article
Table 3. Statistics on the effectiveness of heading control under sudden disturbances (Case 1)
控制器类型平均绝对航向误差/(°) 最大绝对航向误差/(°) 均方根误差
L1 9.90 6.39 15.86
L1-GPR 9.59 5.79 13.68

Table 4. Statistics on the effectiveness of heading control under time-varying disturbances (Case 2)
View table
View in Article
Table 4. Statistics on the effectiveness of heading control under time-varying disturbances (Case 2)
控制器类型平均绝对航向误差/(°) 最大绝对航向误差/(°) 均方根误差
L1 11.09 8.23 21.12
L1-GPR 8.61 4.39 19.24

Table 5. Path-following control effect statistics under time-varying disturbances (Case 3)
View table
View in Article
Table 5. Path-following control effect statistics under time-varying disturbances (Case 3)
控制器类型平均绝对航向误差/(°) 最大绝对航向误差/(°) 均方根误差
L1 11.64 74.92 21.05
L1-GPR 10.49 68.56 19.43

Table 6. Statistics of path track control effect under time-varying disturbances with 90° difference in initial heading angle (Case 4)
View table
View in Article
Table 6. Statistics of path track control effect under time-varying disturbances with 90° difference in initial heading angle (Case 4)
控制器类型平均绝对航向误差/(°) 最大绝对航向误差/(°) 均方根误差
L1 12.95 76.80 20.18
L1-GPR 9.95 70.59 17.73

Table 7. Statistics of path track control effect under time-varying disturbances with 0° difference in initial heading angle (Case 5)
View table
View in Article
Table 7. Statistics of path track control effect under time-varying disturbances with 0° difference in initial heading angle (Case 5)
控制器类型平均绝对航向误差/(°) 最大绝对航向误差/(°) 均方根误差
L1 15.87 61.14 26.68
L1-GPR 14.26 55.25 23.28

Tools

Get Citation

Copy Citation Text

Shijie LI, Jiawei HE, Jialun LIU, Taixu LIU, Chengqi XU. Ship heading and trajectory control method based on L1-GPR[J]. Chinese Journal of Ship Research, 2025, 20(1): 278

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Motion Control

Received: Apr. 22, 2024

Accepted: --

Published Online: Mar. 13, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03888

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Parameters of KVLCC2 model ship

Table 1. Parameters of KVLCC2 model ship

Table 2. simulation condition

Table 2. simulation condition

Table 3. Statistics on the effectiveness of heading control under sudden disturbances (Case 1)

Table 3. Statistics on the effectiveness of heading control under sudden disturbances (Case 1)

Table 4. Statistics on the effectiveness of heading control under time-varying disturbances (Case 2)

Table 4. Statistics on the effectiveness of heading control under time-varying disturbances (Case 2)

Table 5. Path-following control effect statistics under time-varying disturbances (Case 3)

Table 5. Path-following control effect statistics under time-varying disturbances (Case 3)

Table 6. Statistics of path track control effect under time-varying disturbances with 90° difference in initial heading angle (Case 4)

Table 6. Statistics of path track control effect under time-varying disturbances with 90° difference in initial heading angle (Case 4)

Table 7. Statistics of path track control effect under time-varying disturbances with 0° difference in initial heading angle (Case 5)

Table 7. Statistics of path track control effect under time-varying disturbances with 0° difference in initial heading angle (Case 5)

微信扫一扫：分享