Control method applied to autonomous berthing of under-actuated double-propeller double-rudder ship

Abstract

The invention discloses a control method applied to autonomous berthing of an under-actuated double-propeller double-rudder ship, and the method comprises the steps: a ship motion model parameter identification step: based on an extended Kalman filtering method, considering the factors, such as frequent staggering and back-up, occurring in the actual berthing process in an identified motion model structure, self-adaptive correction of ship motion model parameters in the berthing navigation process is achieved; and a model prediction control step and a PID control step, wherein path planning and tracking control of the berthing process are realized by using nonlinear model prediction control and PID control technologies. A nonlinear model is utilized to predict, control and plan a route, the influence of ship nonlinear motion characteristics and actual environment and obstacle factors is considered, and the limitation that nonlinear model predictive control is low in solving speed and long in solving period is solved through PID control; the defect that control instructions are generated by a nonlinear model prediction control method due to changes of factors such as model parameter changes and environment interference in a nonlinear model prediction period is overcome.

Description

technical field

[0001] The invention relates to the technical field of ship automatic control, in particular to a control method applied to autonomous berthing of an underactuated double propeller and double rudder ship. Background technique

[0002] Underactuated ships with two propellers and two rudders mainly refer to military ships and civil special ships. These ships have low speed and poor rudder efficiency during the berthing phase, and usually need propellers to assist in changing the course. Coupled with the influence of factors such as shallow water, low speed, quay wall effect and environmental interference, berthing maneuvers become one of the most complicated and difficult maneuvers in ship maneuvering. In actual berthing practice, experienced captains and pilots are usually required to assist in berthing, which is greatly affected by human factors and reliability is difficult to guarantee. Therefore, it is of great practical significance to use computer progra...

Examples

Embodiment Construction

[0077] 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.

[0078] The control method applied to the autonomous berthing of an underactuated double propeller and double rudder ship provided by the present invention includes three parts as a whole: a ship motion model parameter identification step, a model prediction control step and a PID control step.

[0079] Among them, the ship motion model parameter identification step: obtain the ship motion history data collected by the ship's own mot...

technical field

[0001] The invention relates to the technical field of ship automatic control, in particular to a control method applied to autonomous berthing of an underactuated double propeller and double rudder ship. Background technique

[0002] Underactuated ships with two propellers and two rudders mainly refer to military ships and civil special ships. These ships have low speed and poor rudder efficiency during the berthing phase, and usually need propellers to assist in changing the course. Coupled with the influence of factors such as shallow water, low speed, quay wall effect and environmental interference, berthing maneuvers become one of the most complicated and difficult maneuvers in ship maneuvering. In actual berthing practice, experienced captains and pilots are usually required to assist in berthing, which is greatly affected by human factors and reliability is difficult to guarantee. Therefore, it is of great practical significance to use computer progra...

Examples

Embodiment Construction

[0077] 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.

[0078] The control method applied to the autonomous berthing of an underactuated double propeller and double rudder ship provided by the present invention includes three parts as a whole: a ship motion model parameter identification step, a model prediction control step and a PID control step.

[0079] Among them, the ship motion model parameter identification step: obtain the ship motion history data collected by the ship's own mot...

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