Energy-saving and carbon reduction course-keeping control method based on double nonlinear positive feedback

参数	参数权重D	影响因素	影响因素权重C	权重D×C
转向角度D₁	0.352	最大偏航角C₁	0.395	0.139
转向角度D₁	0.352	平均偏航角C₂	0.605	0.213

转向时间D₂	0.246	延迟时间C₃	0.453	0.111
转向时间D₂	0.246	调节时间C₄	0.547	0.135

舵机能量D₃	0.402	平均舵角C₅	0.559	0.225
舵机能量D₃	0.402	平均舵角变化率C₆	0.441	0.177

Table 2. Main particulars of Yukun training ship
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Table 2. Main particulars of Yukun training ship
参数数值
垂线间长Lp/m 105.00
船宽B/m 18.00
排水体积Δ/ m3 5 735.5
重心距中距离Xc/m −0.51
航速V0/kn 16.7
舵叶面积$ {A}_{\delta } $/ m2 11.46
船中吃水d/ m 5.20
方形系数Cb 0.559 5

Table 3. Energy saving indicators in Beaufort No.6

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Table 3. Energy saving indicators in Beaufort No.6

控制方法	$\psi _{\rm{m}} $/(°)	$ {\bar \psi _{\rm{d}}} $/(°)	$t_{\mathrm{d}} $/s	$t_{\mathrm{s}} $/s	$ \bar \delta $/(°)	$ {\bar \delta _{\rm{d}} } $/((°)·s⁻¹)	I
单重函数非线性修饰	1.99	5.88	49.09	147.68	4.61	0.34	1.00
双重非线性反馈	0.77	4.45	48.49	110.08	4.25	0.10	0.6847
变化率/%	−61.31	−24.32	−1.22	−25.46	−7.81	−70.59	−31.53

Table 4. Energy saving indicators in Beaufort No.8

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Table 4. Energy saving indicators in Beaufort No.8

控制方法	$\psi _{\rm{m}} $/(°)	$ {\bar \psi _{\rm{d}}} $/(°)	$t_{\mathrm{d}} $/s	$t_{\mathrm{s}} $/s	$ \bar \delta $/(°)	$ {\bar \delta _{\rm{d}} } $/((°)·s⁻¹)	I
单重非线性修饰	5.20	6.96	45.19	162.88	8.05	0.68	1.00
双重非线性反馈	3.71	6.40	51.99	121.48	8.15	0.24	0.8137
变化率/%	−28.65	−8.05	15.05	−25.42	1.24	−64.71	−18.63

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Jiaming FAN, Xianku ZHANG, Daocheng MA. Energy-saving and carbon reduction course-keeping control method based on double nonlinear positive feedback[J]. Chinese Journal of Ship Research, 2024, 19(5): 79

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