Frequency domain analysis method for ship autopilot system

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.

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...

AI Technical Summary

Problems solved by technology

Adaptive autopilot control system has high cost, complex parameter adjustment, and unsatisfactory control effect

With the development of modern control theory, some intelligent control strategies are applied to the ship autopilot control system, such as neural network control, fuzzy control, variable structure control, robust control, etc. components, it is often difficult to optimize the autopilot control system, and the control effect is not ideal

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