Distributed self-adaptive ship track keeping system adopting redundant communication

Abstract

The invention discloses a distributed self-adaptive ship track keeping system adopting redundant communication. The system comprises three parts, namely a display setting unit, a control center unit and a steering engine instruction interaction unit. A function design is carried out by considering ship control requirements of navigation personnel in navigation engineering practice, and a distributed structure is designed according to functions; and therefore, the reliability of a track rudder system is improved. Redundant communication under the condition of double CAN buses is achieved through the control center unit, compared with single CAN bus communication, communication errors can be effectively recognized and processed, manual intervention is not needed, automatic retransmission is achieved, and all-weather safe and stable communication of the track rudder system is guaranteed.

Description

technical field [0001] The invention relates to the technical field of ship control engineering and ship automatic navigation equipment, in particular to a distributed adaptive ship track keeping system using redundant communication. Background technique [0002] During the specific navigation process of the ship, the propeller is driven by the main engine to propel, and the steering system is used to maintain and change the course. With the development of science and technology, the degree of automation of ships is getting higher and higher. The steering method has developed from manual steering to a course-keeping track rudder without human intervention, and now the waypoints are manually set, and the ship automatically follows the waypoints. Track maintained track rudder. [0003] In specific engineering practice, the computer / single-chip microcomputer mainly controls actuators such as the steering gear and the main engine by receiving the heading, speed and position inf...

AI Technical Summary

Problems solved by technology

However, because the sea environment is complex and changeable, the ship will be disturbed by external environmental factors (wind, waves, currents, etc.), and the ship has the characteristics of large inertia and strong time lag, resulting in strong nonlinearity and uncertainty in the actual control of the ship. , it is difficult to achieve the target effect

[0005] From the perspective of algorithm, the current mainstream rudder mainly adopts the traditional PID control algorithm, and adjusts the control effect by adjusting the three control parameters of proportional, integral and differential on the panel, which has the advantages of simple adjustment and good stability, but because the control process is offline , leading to the inability to adapt to the external environment

The main disadvantages of the track rudder system in the prior art are as follows: one is that it is a mechanical track rudder system, the specific parameters need to be adjusted manually, it has no adaptability to the environment, and it has higher requirements for the quality of the driver; the other is that it is a stand-alone system , unable to carry out information interaction with the integrated bridge, and does not meet the needs of intelligent navigation

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