Automatic ship berthing control method based on fuzzy PID
A control method and technology for ships, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., to achieve the effect of good engineering effect, simplified design and enhanced robustness
Active Publication Date: 2021-06-11
中国船舶集团有限公司第七零七研究所九江分部
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[0004] In view of the above problems, the object of the present invention is to design a fuzzy-PID-based automatic berthing control method for ships with two propellers and two rudders, which can complete automatic berthing without manual intervention.
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[0063] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0064] refer to figure 1 As shown, a kind of fuzzy PID-based ship automatic berthing control method provided by the present invention includes:
[0065] S100, converting the track tracking control data in the berthing process into speed control and heading control parameters according to the line-of-sight and arc-line navigation method;
[0066] S200. Construct a control strategy for the berthing task based on the staggered vehicl...
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The invention discloses an automatic ship berthing control method based on fuzzy PID. The method comprises the following steps: firstly, converting track tracking control in a berthing process into navigational speed control and course tracking control according to a linear and arc sight navigation method; then, according to the characteristics of the double-propeller double-rudder ship, designing a control strategy based on a ship berthing task, and converting berthing control of the ship into a navigational speed and course control problem; and finally, designing an incremental PID controller to control the navigation direction and the navigation speed in the berthing process, and designing a fuzzy rule table according to the adjustment rule of the PID parameters to carry out adaptive online adjustment on the PID parameters so as to improve the robustness of the controller. Simulation results show that the automatic berthing control method designed by the invention can well control the double-propeller double-rudder ship to complete the berthing task.
Description
technical field [0001] The invention relates to the field of ship intelligent navigation control, in particular to a fuzzy PID-based automatic berthing control method for ships. Background technique [0002] At present, the berthing of ships mostly adopts the cooperation of traditional tugboats and cables on board, which not only increases labor costs, but also is inefficient, and berthing tasks require rich berthing experience support. Accidents that lead to touching docks occur from time to time. In order to enhance the safety of ship berthing and cater to the development trend of ship intelligence and automation, automatic berthing control technology has become a research hotspot in the field of ship control. [0003] However, there is still room for improvement in the automatic berthing control of ships with two propellers and two rudders. Contents of the invention [0004] In view of the above problems, the object of the present invention is to design an automatic b...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 韩俊庆李伟韦一孟凡彬杜亚震
Owner 中国船舶集团有限公司第七零七研究所九江分部