CN103754350B - Based on the ship's track-keepping control system and method for nine point controller - Google Patents
Based on the ship's track-keepping control system and method for nine point controller Download PDFInfo
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Abstract
The present invention is to provide a kind of ship's track-keepping control system and method based on nine point controller.Comprise nine point controller (3), switch logic system (4), switch (5), guidance system (6), data processing system (7), Position and attitude sensor (8), rudder system (9); Described nine point controller (3) comprises switch logic system (4) and switch (5); Ship's track-keepping control system and method based on nine point controller of the present invention, does not require the mathematical models of controlled object, and antijamming capability is strong, strong robustness.Nine point controller structure is simple again, and the performance figure of system have been adjusted separately by the control action in each subregion of correspondence, therefore easy to adjust.The present invention can realize, to the accurate control of ship track, having good application prospect.
Description
Technical field
What the present invention relates to is a kind of ship's track-keepping control system, the present invention also relates to a kind of ship's track-keepping control method.
Background technology
In recent years, abundant marine resources attract the sight in the world, and attention has been invested ocean engineering and ocean exploitation by various countries more and more.Day by day frequent along with people's offshore activities, the field relevant to ship control is subject to the extensive concern of researchist, ship course keeping control, flight tracking control, path trace and dynamic positioning technology etc., becomes the focus of control field research.And the extremely people's concern all the time of ship's track-keepping control problem, motion due to boats and ships has Great inertia, time lag, the feature such as non-linear, the impact of the extraneous Marine Environment Factors such as wind, wave, stream is subject to again in the afloat navigation of boats and ships, therefore, no matter the research carrying out ship's track-keepping control is all extremely important in theory or in practice.The basic controlling thought of nine point controller is: when controlled object output valve departs from setting value, and controller adds a reciprocal application force for controlled object automatically, makes system respond fast and revert near setting value.
In ship motion controller, Controller gain variations is very important, and general is PID autopilot at present.Along with the change of sea situation, the dynamic characteristics of boats and ships can change, and PID autopilot does not have the function of auto-adjustment control parameter, thus departs from its optimum Working, controller performance degradation.
Summary of the invention
The object of the present invention is to provide that a kind of antijamming capability is good, the ship's track-keepping control system based on nine point controller of strong robustness.The present invention also aims to provide a kind of ship's track-keepping control method based on nine point controller.
Ship's track-keepping control system based on nine point controller of the present invention comprises nine point controller 3, switch logic system 4, switch 5, guidance system 6, data processing system 7, Position and attitude sensor 8, rudder system 9; Described nine point controller 3 comprises switch logic system 4 and switch 5; Described Position and attitude sensor collection boats and ships actual position and bow to angle, and are passed to data processing system; Described data processing system carries out filtering and noise processed to the information received, obtain the position of boats and ships and bow to etc. low frequency motion information; Described guidance system, according to the initial position of expectation information and the boats and ships of input, generates a smooth path, according to this path can obtain boats and ships the desired locations in each moment and expectation bow to; The expectation information that described switch logic system inputs according to guidance system and the boats and ships low frequency motion information that data processing system provides, carry out judging affiliated operating mode, and send instruction to switch, take corresponding control policy to drive rudder system, adjustment motion of ship direction.
Ship's track-keepping control method based on nine point controller of the present invention is:
(1) Position and attitude sensor 8 gathers boats and ships actual position and bow to angle, and is passed to data processing system 7;
(2) data processing system 7 carries out filtering and noise processed to the information received, obtain the position of boats and ships and bow to etc. low frequency motion information;
(3) guidance system 6 is according to the initial position of expectation information and the boats and ships of input, generates a smooth path, according to this path can obtain boats and ships the desired locations in each moment and expectation bow to;
(4) the boats and ships low frequency motion information that provides of the expectation information that inputs according to guidance system 6 of switch logic system 4 and data processing system 7, carry out judging affiliated operating mode, and send instruction to switch 5, corresponding control policy is taked to drive rudder system 9, adjustment motion of ship direction, realizes the accurate control to ship track.
Ship's track-keepping control system and method based on nine point controller of the present invention, does not require the mathematical models of controlled object, and antijamming capability is strong, strong robustness.Again because nine point controller structure is simple, the performance figure of system have been adjusted separately by the control action in each subregion of correspondence, therefore easy to adjust.The invention solves PID autopilot can not the problem of auto-adjustment control parameter, can realize, to the accurate control of ship track, having good application prospect.
Accompanying drawing explanation
Fig. 1 is the ship's track-keepping control system global structure block diagram based on nine point controller of the present invention;
Fig. 2 is ship track aircraft pursuit course design sketch of the present invention;
Fig. 3 is that ship bow of the present invention is to change curve design sketch;
Fig. 4 is ship helm angular position change curve design sketch of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in more detail.
Ship's track-keepping control system based on nine point controller of the present invention comprises nine point controller 3, switch logic system 4, switch 5, guidance system 6, data processing system 7, Position and attitude sensor 8, rudder system 9; Described nine point controller 3 comprises switch logic system 4 and switch 5; Described Position and attitude sensor collection boats and ships actual position and bow to angle, and are passed to data processing system; Described data processing system carries out filtering and noise processed to the information received, obtain the position of boats and ships and bow to etc. low frequency motion information; Described guidance system, according to the initial position of expectation information and the boats and ships of input, generates a smooth path, according to this path can obtain boats and ships the desired locations in each moment and expectation bow to; The expectation information that described switch logic system inputs according to guidance system and the boats and ships low frequency motion information that data processing system provides, carry out judging affiliated operating mode, and send instruction to switch, take corresponding control policy to drive rudder system, adjustment motion of ship direction.
More detailed description is done to the ship's track-keepping control method based on nine point controller of the present invention below:
(1) Position and attitude sensor 8 gathers the actual position x of boats and ships, y and course made good angle ψ, and is passed to data processing system 7;
(2) data processing system 7 to the position of the boats and ships received and bow to information η=[x, y, ψ]
tcarry out filtering and noise processed, obtain the position of boats and ships and bow to etc. low frequency motion information;
(3) guidance system 6 is according to the expectation information r of input
dwith the initial position of boats and ships, generate a smooth path, the desired locations x needed for boats and ships each moment can be obtained according to this path
d, y
dwith expectation bow to ψ
d, be designated as η
d=[x
d, y
d, ψ
d]
t; And obtain error function e=ψ
d-ψ and error rate function
pass to switch logic system 4;
(4) error function that provides of the expectation information that inputs according to guidance system 6 of switch logic system 4 and data processing system 7 and error rate function, carry out Logic judgment, its principle of work is: (set a deviation zero and be with e
0be with deviation variation rate zero
)
If 1. e>=e
0and
controller provides k
4+(forcing) strategy;
If 2. e>=e
0and
controller provides k
3+(a little) strategy;
If 3. e>=e
0and
controller provides k
2+(weak add) strategy;
If 4. | e| < e
0and
controller provides k
1+(micro-add) strategy;
If 5. e≤-e
0and
controller provides k
4-(subtracting by force) strategy;
If 6. e≤-e
0and
controller provides k
3-(slightly subtracting) strategy;
If 7. e≤-e
0and
controller provides k
2-(weak subtract) strategy;
If 8. | e| < e
0and
controller provides k
1-(shading) strategy;
If 9. | e| < e
0and
controller provides k
0(maintenance) strategy.
And then send instruction by switch logic system 4 to switch 5, take corresponding control policy to drive rudder system 9, adjustment motion of ship direction, realizes the accurate control to ship track.
The present invention adopts certain surface ship to carry out l-G simulation test.Its initial position co-ordinates (1000m, 500m), desired trajectory point is set to (3500m, 3000m) successively, (3870m, 4500m), and be disturbed is saved for wind speed 18, wind direction 0 degree.Simulation result is shown in Fig. 2 to Fig. 4.Dotted line in Fig. 2 is given flight path, and solid line is PID controller track, and dotted line is nine point controller track.
By finding out after simulation curve and data analysis, the ship's track-keepping control system based on nine point controller that the present invention proposes, when there is external interference, boats and ships can follow the tracks of fast desired locations that guidance system provides and bow to, reach the control effects of expectation, there is good robust performance.
Claims (2)
1., based on a ship's track-keepping control system for nine point controller, comprise nine point controller (3), switch logic system (4), switch (5), guidance system (6), data processing system (7), Position and attitude sensor (8), rudder system (9); It is characterized in that:
Described nine point controller (3) comprises switch logic system (4) and switch (5), and described Position and attitude sensor collection boats and ships actual position and bow to angle, and are passed to data processing system; Described data processing system carries out filtering and noise processed to the information received, and obtains the position of boats and ships and bow to low frequency motion information; Described guidance system, according to the initial position of expectation information and the boats and ships of input, generates a smooth path, according to this path can obtain boats and ships the desired locations in each moment and expectation bow to; The expectation information that described switch logic system inputs according to guidance system and the boats and ships low frequency motion information that data processing system provides, carry out judging affiliated operating mode, and send instruction to switch, take corresponding control policy to drive rudder system, adjustment motion of ship direction.
2., based on a control method for the ship's track-keepping control system based on nine point controller according to claim 1, it is characterized in that:
(1) Position and attitude sensor (8) collection boats and ships actual position and bow are to angle, and are passed to data processing system (7);
(2) data processing system (7) carries out filtering and noise processed to the information received, and obtains the position of boats and ships and bow to low frequency motion information;
(3) guidance system (6) is according to the initial position of expectation information and the boats and ships of input, generates a smooth path, according to this path can obtain boats and ships the desired locations in each moment and expectation bow to;
(4) the boats and ships low frequency motion information that provides of the expectation information that inputs according to guidance system (6) of switch logic system (4) and data processing system (7), carry out judging affiliated operating mode, and send instruction to switch (5), corresponding control policy is taked to drive rudder system (9), adjustment motion of ship direction, realizes the accurate control to ship track.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410003231.8A CN103754350B (en) | 2014-01-03 | 2014-01-03 | Based on the ship's track-keepping control system and method for nine point controller |
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| CN201410003231.8A CN103754350B (en) | 2014-01-03 | 2014-01-03 | Based on the ship's track-keepping control system and method for nine point controller |
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| CN103754350B true CN103754350B (en) | 2016-03-09 |
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|---|---|---|---|---|
| US7270068B2 (en) * | 2005-02-15 | 2007-09-18 | Yamaha Marine Kabushiki Kaisha | Steering control system for boat |
| CN101161547A (en) * | 2006-10-13 | 2008-04-16 | 沈阳航天新光集团有限公司 | An automatic cruising unmanned drive vessel |
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| CN101452291A (en) * | 2007-11-30 | 2009-06-10 | 朱普国 | Autopilot for ship |
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| CN101872195A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Path deviation generation analysis method for ship at sea |
| WO2011055512A1 (en) * | 2009-11-04 | 2011-05-12 | 川崎重工業株式会社 | Maneuvering control method and maneuvering control system |
| CN201999194U (en) * | 2011-02-15 | 2011-10-05 | 九江中船仪表有限责任公司 | Combined type autopilot for ships |
| CN102819663A (en) * | 2012-07-17 | 2012-12-12 | 哈尔滨工程大学 | Method for forecasting ship wake based on optimized support vector regression parameter |
-
2014
- 2014-01-03 CN CN201410003231.8A patent/CN103754350B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7270068B2 (en) * | 2005-02-15 | 2007-09-18 | Yamaha Marine Kabushiki Kaisha | Steering control system for boat |
| CN101161547A (en) * | 2006-10-13 | 2008-04-16 | 沈阳航天新光集团有限公司 | An automatic cruising unmanned drive vessel |
| CN101452291A (en) * | 2007-11-30 | 2009-06-10 | 朱普国 | Autopilot for ship |
| CN101281409A (en) * | 2008-05-09 | 2008-10-08 | 北京海兰信数据科技股份有限公司 | Autopilot |
| CN101299155A (en) * | 2008-05-09 | 2008-11-05 | 北京海兰信数据科技股份有限公司 | Autopilot |
| CN101665150A (en) * | 2008-09-05 | 2010-03-10 | 康弗蒂姆技术有限公司 | Dynamic positioning architecture |
| WO2011055512A1 (en) * | 2009-11-04 | 2011-05-12 | 川崎重工業株式会社 | Maneuvering control method and maneuvering control system |
| CN101872195A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Path deviation generation analysis method for ship at sea |
| CN201999194U (en) * | 2011-02-15 | 2011-10-05 | 九江中船仪表有限责任公司 | Combined type autopilot for ships |
| CN102819663A (en) * | 2012-07-17 | 2012-12-12 | 哈尔滨工程大学 | Method for forecasting ship wake based on optimized support vector regression parameter |
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