Frequency domain analysis method for ship autopilot system

A technology of frequency domain analysis and autopilot, applied in general control system, control/regulation system, adaptive control, etc., can solve the problem of high cost of adaptive autopilot control system, difficulty in optimizing autopilot control system, and ineffective control effect Ideal and other problems, to achieve the effect of ideal control effect, good tracking and adjustment performance, and simple design steps

CN103226326AInactive Publication Date: 2013-07-31SHANGHAI UNIVERSITY OF ELECTRIC POWER
6 Cites 16 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2013-07-31
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a frequency domain analysis method for a ship autopilot system, which includes the following steps: building a math model of a controlled object of the ship autopilot system, and establishing an autopilot control system; confirming a closed loop predominant pole of the control system as per expected response overshoot and adjusting time of the closed loop system; confirming the zero pole of the controller based on a root locus diagram and a Bode diagram of the autopilot control system; designing a ship autopilot second-order ahead controller based on the frequency domain method; drawing a simulation block diagram of the helm autopilot control system; and verifying the effectiveness and feasibility through carrying out simulation comparison and analysis of the ship autopilot control system and the traditional PID control system. According to the method, good stability and fewer frequency in auto-steering are realized, helm blades are rotated in a reasonable range, abrasion and leakage of a steering engine system as well as thrust consumption during helm steering can be reduced, so that energy consumption is saved, the heading of the ship can be automatically kept or changed with high accuracy, safe shipping at ordinary times and collision prevention of ships under a severe environment can be guaranteed, and the method has reference value in the practical engineering application.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to a ship automatic control method, in particular to a frequency domain analysis method of a ship automatic steering system. Background technique

[0002] With the increasing demand for navigation safety and operation in the 21st century, due to the complex climate and geographical environment when ships sail, people have higher and higher requirements for safe and economical navigation of ships. How to scientifically manipulate and control ships to reach the destination port safely and on time , is a life-threatening issue of great impact. At present, the ship manipulation generally uses the autopilot to control the hydraulic steering gear, so that the ship can follow or sail in a fixed course and track according to the driving needs. During the sea trial and delivery of the ship, it was found that the hydraulic system often had hydraulic fluctuations and shocks, resulting in system leakage and unstable operation of the hydrauli...

Examples

Embodiment Construction

[0040] The invention uses the frequency domain method to control the course deflection angle of the automatic rudder of the ship, which can obviously improve the course control effect of the automatic rudder of the ship. The control performance of the designed frequency domain controller is better than that of the traditional PID control structure. Handling performance. The designed autopilot frequency domain control system has good dynamic characteristics, fast response time, strong robustness and anti-interference ability. Ultimately, the automatic steering can be stabilized, the number of times is less, and the rotation range of the rudder blade is reasonable, so as to reduce the wear and tear of the steering gear system, and the thrust loss when turning the rudder, thereby saving energy consumption and providing a powerful guarantee for the safe and smooth completion of the ferry mission. Assure.

[0041] (1) Construct the mathematical model of the controlled object of th...