• Chinese Journal of Ship Research
  • Vol. 20, Issue 1, 278 (2025)
Shijie LI1,2, Jiawei HE2, Jialun LIU1,3,4, Taixu LIU2, and Chengqi XU2
Author Affiliations
  • 1State Key Laboratory of Maritime Technology and Safety, Wuhan 430063, China
  • 2School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China
  • 3East Lake Laboratory, Hubei Province, Wuhan, 420202, China
  • 4National Engineering Research Center for Water Transport Safety, Wuhan 430063, China
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    DOI: 10.19693/j.issn.1673-3185.03888 Cite this Article
    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 Copy Citation Text show less
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    参数数值
    船模比1∶45.714
    垂直线长Lpp/m7
    水线长Lwl/m7.120 4
    水线宽Bwl/m1.268 8
    型深D/m0.656 3
    吃水d/m0.455 0
    方形系数CB0.809 8
    排水体积/m33.272 4
    重心纵向坐标LCG/m0.244
    舵面积/m20.065 4
    舵高h/m0.346
    T1/s11.454 0
    T2/s5.199 2
    T3/s3.838 2
    K/s−1 0.166 5
    Table 1. Parameters of KVLCC2 model ship
    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 2. simulation condition
    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
    L19.906.3915.86
    L1-GPR9.595.7913.68
    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
    L111.098.2321.12
    L1-GPR8.614.3919.24
    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
    L111.6474.9221.05
    L1-GPR10.4968.5619.43
    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
    L112.9576.8020.18
    L1-GPR9.9570.5917.73
    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
    L115.8761.1426.68
    L1-GPR14.2655.2523.28
    Table 7. Statistics of path track control effect under time-varying disturbances with 0° difference in initial heading angle (Case 5)