Ship course varying domain fuzzy control method

A technology of fuzzy control and variable universe, applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problems of affecting the effect of heading control, slow calculation speed of heading controller, single data transmission mode, etc., and achieve reliability Good, simple structure, simple system structure

Inactive Publication Date: 2012-08-22
HARBIN ENG UNIV
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Problems solved by technology

At the same time, due to the shortcomings of the traditional heading controller, such as slow calculation speed and single data transmission met

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  • Ship course varying domain fuzzy control method
  • Ship course varying domain fuzzy control method
  • Ship course varying domain fuzzy control method

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[0018] Hereinafter, the present invention will be described in more detail with examples in conjunction with the accompanying drawings:

[0019] Combine Figure 1~4 , Combined figure 1 , figure 1 What is embodied is a schematic diagram of the structure of the ship course controller in the method of the present invention. The course controller is used as the data processing core of the ship course control system. It collects the course command and the wave interference value sent by the upper computer in real time and compares it with the current course value. Variable universe fuzzy algorithm operation, the calculated rudder angle value is sent to the rudder servo system, and the current heading value is obtained by collecting the current rudder angle value and calculating the ship mathematical model to achieve closed-loop control of the ship heading.

[0020] Combine figure 2 , figure 2 What is embodied is the structural block diagram of the ship heading controller. The system ...

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Abstract

The invention aims to provide a ship course varying domain fuzzy control method, comprising the following steps of: collecting a current course deviation value; calculating an input retracting factor and calculating a varying domain fuzzy control input quantity; taking a deviation input value and a course deviation changing rate as input quantity of a fuzzy algorithm; utilizing a conventional fuzzy operation process to calculate a fuzzy control output quantity; calculating an output control rudder angle and sending an obtained rudder angle instruction to a servo system to realize ship rudder control; collecting a current rudder angle value and judging; if the rudder angle value has a fault, reporting the fault to an upper computer and shutting down a program; and converting to a primary step in a fault-free manner and making preparation for sampling again. The ship course varying domain fuzzy control method collects a pre-set course value of the upper computer, a navigation interference quantity and a feedback rudder angle value of a rudder servo system, and controls the rudder servo system on the base of varying domain fuzzy control operation; and the ship course varying domain fuzzy control method has the characteristics of high precision, good reliability, simple structure and the like; meanwhile, the system structure is simple and the construction cost is low.

Description

technical field [0001] The invention relates to a ship control method in the field of automatic control. Background technique [0002] As an important part of ship automation, ship course control system has made great progress in its research and application in recent decades. At present, the fourth-generation autopilot system with control algorithms such as expert system, fuzzy control, and neural network as the core is being widely used in ship heading control systems because of its high control precision and strong adaptability. At present, the more common ship course control system is mainly composed of upper computer, course controller, rudder servo system and other parts. The host computer, as the sending end of the data parameters, mainly realizes the setting of the heading control value and the input of the current disturbance of the ship; the heading controller realizes the output of the control rudder angle value through intelligent algorithm calculation on the ba...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 刘胜邢博闻李冰
Owner HARBIN ENG UNIV
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