Under-actuated water surface ship course control method based on CFD

A heading control, underactuated technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system and other directions, can solve the problems such as no similar patents found, and achieve the effect of stable heading control

Inactive Publication Date: 2020-04-10
HARBIN ENG UNIV
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  • Under-actuated water surface ship course control method based on CFD
  • Under-actuated water surface ship course control method based on CFD
  • Under-actuated water surface ship course control method based on CFD

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Embodiment 1

[0088] The invention provides a method for controlling the course of an underactuated ship and surface ship based on CFD. The method includes four parts: CFD numerical analysis, hydrodynamic calculation, mathematical modeling and stabilizing control design. Among them, CFD numerical analysis includes pre-processing, solver setting and post-processing; hydrodynamic calculation includes hydrodynamic equation analysis and hydrodynamic derivative calculation; stabilization control includes controller design and simulation. The three-degree-of-freedom mathematical model of the underactuated ship can be established by solving the required hydrodynamic derivatives, and finally the control effect of the controller can be verified through simulation. The present invention proposes a simple and effective solution to the problem of course control of underactuated ships with unknown models, which can observe the state changes during the maneuvering process of underactuated ships and realiz...

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Abstract

The invention, which belongs to the field of ship hydrodynamic force and ship control, particularly relates to an underactuated water surface ship course control method based on CFD. The method comprises four parts of CFD numerical analysis, hydrodynamic calculation, mathematical modeling and stabilization control design. According to the method, an underactuated ship three-degree-of-freedom mathematical model is established through hydrodynamic equation analysis and hydrodynamic derivative calculation, so that a propulsive force matrix control law and a steering force matrix control law are obtained; and the course angle of the underactuated ship is controlled by adopting a stabilization control method. The invention provides a simple and effective solution for the course control problemof an underactuated ship with an unknown model; and the observation of the state change of the underactuated ship in a control process can be realized and the quick and stable course control can be realized.

Description

technical field [0001] The invention belongs to the field of ship hydropower and ship control, and in particular relates to a method for controlling the course of an underactuated surface ship based on CFD. Background technique [0002] In recent years, with the continuous development of machinery, control, electrical and other fields, the shipbuilding industry has also achieved rapid development, and high-tech intelligent ships have become the main direction of development in the shipbuilding field. Smart ships use sensors, shore-based communications, GPS positioning and other technical methods, combined with computers, automatic control and other technologies to control the ship's navigation process, making ships safer and more reliable. At present, most smart ships are under-actuated ships. [0003] An underactuated ship refers to a ship whose input dimension of the control system is less than the number of degrees of freedom. In practical applications, an underactuated s...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 刘志林苑守正孙雨鑫苏丽朱齐丹马英凯郑林熇
Owner HARBIN ENG UNIV
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