船舶航迹控制算法的研究与仿真

发布时间：2018-03-24 11:05

本文选题：航迹控制　切入点：制导算法　出处：《吉林大学》2014年硕士论文

【摘要】：自动操舵仪是船舶重要的控制设备，具有航向控制和航迹控制两种自动控制模式。随着控制理论的日益完善和科学技术的不断发展，人们对自动操舵仪有了更高的要求，亟需研究出更为节能、经济、安全的航迹控制算法。本文顺应船舶运动控制的发展潮流，从提高船舶航行稳定性、安全性和经济性的角度出发，以控制精度高、抗干扰能力强、操舵次数少的控制性能为研究目标，结合新型制导算法和最优航向控制算法设计出一种经济实用的航迹控制算法，为提高国内航迹控制水平贡献一份力量。首先，研究船舶运动数学模型的建模方法。为了更真实可靠地获取航迹控制算法的测试数据，本文参考IEC62065的船舶模型结构，分别研究了船舶的推进装置、舵机装置、纵移运动、横移运动和艏摇转动的数学建模方法，并且通过分析船舶航行中的环境干扰因素，建立了海浪和海流的数学模型。本文还提出了一种简单实用的船位推算方法，能够准确地模拟出船舶的位置变化情况。通过分析船舶回转试验的仿真结果得出：本文的船舶建模方法具有较高的仿真精度，能够用于船舶航迹控制算法的仿真研究。其次，研究船舶航迹制导算法。本文的制导算法主要包括航迹计算、直航制导和曲线制导。关于航迹计算，研究了船舶航行偏差的计算方法，并提出了一种新型实用的计算大圆航法航行偏差的方法。关于直航制导，本文基于双曲正切函数的平滑渐近特性，提出了一种新型的双曲制导方法，能够提高船舶直航跟踪速率，避免位置超调。关于曲线制导，本文基于李雅普诺夫稳定性函数，提出了一种逆向分步的计算方法，计算出能够使系统全局渐进稳定的指令转向速率，并给出了针对海流干扰的修正公式。再次，研究船舶航向控制算法。本文将反馈线性化算法和最优控制算法结合，创新性地提出了针对非线性船舶模型的反馈线性化最优航向控制算法。该算法不仅具有船舶艏向控制功能，还能够完成船舶转向速率控制，是一种综合型的航向控制算法，能够有效地降低程序的空间复杂度。为了解决海浪干扰造成的频繁操舵问题，本文针对非线性船舶模型和海浪干扰模型，，设计出一类扩展状态观测器，并给出反馈增益矩阵的计算公式。经过对多种类型船舶的试验结果得出，本文的航向控制算法具有抗干扰能力强、操舵次数少和操舵幅度小的优点。最后，研究并设计船舶运动控制仿真系统。本文从提高仿真效率的角度出发，基于Matlab和VC++的混合编程技术，仿照真实的船舶控制环境，设计出一种单机非实时的船舶运动控制仿真系统。该系统主要由航迹控制器、舵机执行机构、舵机反馈机构、船舶运动模拟器和电子海图组成。系统仿真时间大约为真实时间的0.01倍，能够有效地提高仿真效率，且界面友好、操作简单的电子海图模块为仿真测试提供了可视化的信息显示，能够在线快速地分析航迹控制算法的性能。应用船舶运动控制仿真系统对不同测试场景下的航迹控制算法的性能进行仿真测试，得出：本文的航迹控制算法具有控制精度高、抗干扰能力强、操舵次数少的控制性能，达到了预期的目标。
[Abstract]:Autopilot is an important equipment of ship control, course control and track control two automatic control mode. With the development of control theory and improvement of science and technology, people have higher requirements on autopilot, need to study more energy saving, economy and safety. This paper track control algorithm conform to the trend of development of ship motion control, from improving ship stability, safety and economic point of view, with high control precision, strong anti-interference ability, less steering control performance as the research object, combined with the new type of guidance algorithm and optimal control algorithm design course tracking control algorithm of a kind of economical and practical. In order to improve the control level of domestic track contribution to a force.
First, study on modeling methods of ship motion mathematical model. In order to obtain more reliable tracking control algorithm of ship model test data, based on the IEC62065 structure, respectively study the propulsion device, the ship's steering gear device, longitudinal motion, lateral motion and yaw mathematical modeling method of the rotation, and through the analysis of ship interference environment the voyage factors, establishes a mathematical model of wave and current. This paper also puts forward a simple and practical method for calculating the position, can accurately simulate the position changes of the ship. By the simulation analysis of ship turning test results show that the simulation accuracy of ship modeling method in this paper is high, can be used for simulation research the ship track control algorithm.
Secondly, the ship trajectory guidance algorithm. The algorithm mainly includes guidance path calculation, direct guidance and guidance. On the track curve calculation, studies the calculation methods of ship navigation deviation, and puts forward the method to calculate the great circle a new practical navigation deviation. A direct guidance, the smooth asymptotic properties of hyperbolic tangent function based on, we put forward a new hyperbolic guidance method can improve the ship direct tracking rate, avoid position overshoot. The Li Yapu curve on the guidance, based on Lyapunov function, presents a reverse stepwise calculation method, calculated to make the system globally asymptotically stable instruction steering rate, and gives the correction formula of current disturbance.
Again, research on Algorithm of ship heading control. The feedback algorithm and optimal control algorithm of linear combination, put forward the innovation of the feedback linearization optimal control algorithm for nonlinear ship course model. The algorithm not only has the ship heading control function, can also complete the ship turning rate control algorithm is a comprehensive course control, can effectively reduce the complexity of the program space. In order to solve the problems caused by frequent steering wave interference, the nonlinear ship model and wave interference model, designed the extended state observer for a class, and gives the calculation formula of the feedback gain matrix. Through the test of various types of ships the course control algorithm in this paper has strong anti-interference ability, low frequency and small amplitude of steering steering advantages.
Finally, the research and design of ship motion control simulation system. This paper from the perspective of how to improve the efficiency of simulation, the mixed programming technology of Matlab and VC++ based ship modeled on real control environment, designs the non real-time simulation system for ship motion control of a single machine. The system is mainly composed of a track controller, servo actuator, servo feedback mechanism, ship motion simulator and electronic chart system simulation. The time is about 0.01 times of real time, can effectively improve the efficiency of simulation, and friendly interface, simple operation of the electronic chart module provides visual information for the simulation test shows, can quickly analyze the performance of online tracking control algorithm.
The ship motion control simulation system is applied to simulate the performance of the track control algorithm under different test scenarios. It is concluded that the track control algorithm in this paper has high control accuracy, strong anti-interference ability and few steering times, and achieves the desired goal.

【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7;TP301.6

【共引文献】