Chinese Journal of Ship Research, Volume. 19, Issue 1, 280(2024)
Tracking control of ships based on ADRC−MFAC
Figures & Tables(18)
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Table 1. Particulars of KVLCC2 model ship
View tableView in ArticleTable 1. Particulars of KVLCC2 model ship
参数 数值 船模比 1/45.7 船长/m 7.00 型宽/m 1.16 型深/m 0.46 排水量/m3 3.27 重心纵坐标/m 0.25 填充系数 0.810 螺旋桨直径/m 0.216 舵展长/m 0.345 舵面积/m2 0.053 9
Table 2. Simulation conditions
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工况 工况类型 仿真实验类型 工况1 无干扰 航向控制研究 工况2 常值扰动 航向控制研究 工况3 时变干扰 航向、航迹控制研究
Table 3. Performance indexes of ship heading control system without disturbance for different algorithms
View tableView in ArticleTable 3. Performance indexes of ship heading control system without disturbance for different algorithms
算法 上升时间/s 超调量 /（°） 打舵频次/次 平均舵幅/（°） PID 25 3 5.7 0.208 MFAC 87 0 4.35 0.054 ADRC 27 2.5 4.8 0.209 ADRC−MFAC 56 0 4.2 0.043
Table 4. Performance indexes of ship heading control system with constant disturbance for different algorithms
View tableView in ArticleTable 4. Performance indexes of ship heading control system with constant disturbance for different algorithms
算法 上升时间/s 超调量 /（°） 稳态偏差/（°） 稳态舵幅/（°） PID 21 6.165 1.396 −0.976 MFAC 80 0 0.765 −1.607 ADRC 24 4.560 0.024 −2.423 ADRC−MFAC 55 0 0.007 −2.446
Table 5. Performance indexes of ship heading control system under time-varying disturbance for different algori-thms
View tableView in ArticleTable 5. Performance indexes of ship heading control system under time-varying disturbance for different algori-thms
算法 上升时间/s 超调量 /（°） 平均偏差/（°） 平均舵幅/（°） PID 22 4.864 0.361 1.090 MFAC 92 0 0.376 0.714 ADRC 22 3.061 0.196 0.859 ADRC−MFAC 67 0 0.184 0.623
Table 6. Performance indexes of ship straight-path following control system under time-varying disturbance for different algorithms
View tableView in ArticleTable 6. Performance indexes of ship straight-path following control system under time-varying disturbance for different algorithms
算法 到达时间/s 平均舵幅/（°） 平均跟踪偏差/m 最大跟踪偏差/m PID 281 4.593 0.149 0.672 MFAC 273 3.745 0.164 1.185 ADRC 276 3.939 0.087 0.383 ADRC−MFAC 272 2.890 0.056 0.291
Table 7. Performance indexes of ship curved-path following control system under time-varying disturbance for different algorithms
View tableView in ArticleTable 7. Performance indexes of ship curved-path following control system under time-varying disturbance for different algorithms
算法 到达时间/s 平均舵幅/（°） 平均跟踪偏差/m 最大跟踪偏差/m PID 662 15.028 0.631 5.239 MFAC 689 10.756 1.869 6.601 ADRC 639 12.601 0.297 5.462 ADRC−MFAC 654 9.520 0.281 3.317
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Shijie LI, Chengqi XU, Jialun LIU, Ziqian XU, Fanbin MENG. Tracking control of ships based on ADRC−MFAC[J]. Chinese Journal of Ship Research, 2024, 19(1): 280
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Received: Dec. 23, 2022
Accepted: --
Published Online: Mar. 18, 2025
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