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Ship track control system and method based on nine-point controller

A nine-point controller and control system technology, applied in the field of ship track control system, can solve the problems of PID autopilot without automatic adjustment of control parameters, control performance degradation, deviation from the best working state, etc., to achieve simple structure, anti- The effect of strong interference ability and convenient adjustment

Active Publication Date: 2014-04-30
HARBIN ENG UNIV
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Problems solved by technology

As the sea conditions change, the dynamic characteristics of the ship will change, and the PID autopilot does not have the function of automatically adjusting the control parameters, thus deviating from its optimal working state, and the control performance is severely degraded

Method used

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  • Ship track control system and method based on nine-point controller
  • Ship track control system and method based on nine-point controller
  • Ship track control system and method based on nine-point controller

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Embodiment Construction

[0016] The present invention will be described in more detail below in conjunction with the accompanying drawings.

[0017] The ship track control system based on the nine-point controller of the present invention includes a nine-point controller 3, a switching logic system 4, a switcher 5, a guidance system 6, a data processing system 7, a pose sensor 8, and a rudder system 9; The nine-point controller 3 includes a switching logic system 4 and a switcher 5; the position and attitude sensor collects the actual position and heading angle of the ship, and transmits it to the data processing system; the data processing system performs a process on the received information Filtering and noise processing to obtain low-frequency motion information such as the position and heading of the ship; the guidance system generates a smooth path based on the input expected information and the initial position of the ship, and according to this path, the expected position of the ship at each mo...

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PUM

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Abstract

The invention provides a ship track control system and method based on a nine-point controller. The ship track control system comprises a nine-point controller (3), a switching logic system (4), a switch (5), a guide system (6), a data processing system (7), a position sensor (8) and a rudder system (9). The nine-point controller (3) comprises the switching logic system (4) and the switch (5). According to the ship track control system and method based on the nine-point controller, a precision mathematic model of an object to be controlled is not required, anti-interference capacity is high, and robustness is strong. The nine-point controller is simple in structure, and performance indicators of the system are independently adjusted by control effect in each corresponding region, so that adjustment is facilitated. By the aid of the ship track control system and method, ship tracks can be controlled precisely, and the system and method has good application prospect.

Description

technical field [0001] The invention relates to a ship track control system, and also relates to a ship track control method. Background technique [0002] In recent years, rich marine resources have attracted the attention of the world, and countries have paid more and more attention to marine engineering and marine development. With the increasing frequency of people's sea activities, the fields related to ship control have attracted extensive attention of researchers. Ship course control, track control, path tracking and dynamic positioning technology have become the focus of research in the field of control. The problem of ship track control has always attracted people's attention. Due to the characteristics of large inertia, time delay and nonlinearity of the ship's motion, the ship is also affected by external wind, waves, currents and other marine environmental factors when sailing at sea. , therefore, the study of ship track control is of great significance both in ...

Claims

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Application Information

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IPC IPC(8): B63H25/04
Inventor 夏国清邓维杨月
Owner HARBIN ENG UNIV
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