A MODAL METHOD FOR THE SYNTHESIS OF AN OBSERVER FOR HEADING CONTROL
A method for synthesis of an observer for heading control based on the theory of modal controllers considered. Modern systems of navigation, their technical facilities are characterized by high dimensionality and complexity. Their components are: gyro pilots, control systems, propulsion complex, dynamic positioning systems, controls, filters, monitoring tools, evaluation of state variables, dynamic observers, identifiers, etc. Evaluation models of quantitative and qualitative indicators, ship control systems based on the use of generalized mathematical models, which can take different forms depending on the influence of numerous factors on its structure and parameters. The use of a class of simple models of the dynamics of managing tankers, proposed by Nomoto, for the synthesis of optimal controllers and parametric settings of the autopilots is connected with necessity of accounting of changes of their parameters, the reconstruction of the state vector according to incomplete measurements. The adequacy of the dynamics and simple models of object functioning in the conditions of changing external environment, can be improved through the application of modern algorithms of analysis, synthesis and optimization of automatic systems and tools of computing environments and computer technologies with application of the main provisions of the of modal control. The technique of synthesis of dynamic observer of Luenberger complete dimension, characterized in that it takes into account the structure of the state matrix model of the vessel with the regulator Ackerman, permit subject to the conditions of controllability and observability of the choice of the stabilizing structure of the matrix of the observer in the form of vectors - columns with non-zero elements, which allows to simplify the synthesis procedure. The calculation of the observer for estimation of vector of state variables completed for supertanker with a deadweight of 150 thousand tons.