A control method for autonomous berthing of underdriven twin-propeller and twin-rudder ships

Abstract

The invention discloses a control method for autonomous berthing of under-driven twin-propeller and twin-rudder ships, which includes: the ship motion model parameter identification step is based on the extended Kalman filter method, and factors such as frequent miscarriage and reversing that occur in the actual berthing process are Considering the identified motion model structure, the adaptive correction of ship motion model parameters during berthing navigation is realized. The model predictive control step and the PID control step use nonlinear model predictive control and PID control technology to achieve path planning and tracking control of the berthing process. Among them, the route planned by nonlinear model predictive control takes into account the nonlinear motion characteristics of the ship and the influence of actual environment and obstacle factors. PID control solves the limitations of slow solving speed and long solution period of nonlinear model predictive control, overcoming the nonlinear model. Changes in model parameters, environmental interference and other factors during the prediction period have shortcomings in the control instructions generated by the nonlinear model predictive control method.

Description

Technical field [0001] The invention relates to the technical field of ship automatic control, and in particular to a control method for autonomous berthing of under-driven twin propellers and twin rudders. Background technique [0002] Underdriven twin-propeller and twin-rudder ships mainly refer to military ships and civilian-specific ships. Such ships have low speed and poor rudder effect during the berthing stage, and usually require propeller staggering to assist in changing course. Coupled with the influence of factors such as shallow water, low speed, shore wall effect and environmental interference, berthing maneuvers have become one of the most complex 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 programs to reali...

AI Technical Summary

Problems solved by technology

However, this method does not consider the influence of obstacles in the port on the control, and only considers the control of the rudder in the heading control, and has not taken into account the influence of the vehicle, so it is not suitable for the autonomous berthing design of ships with two propellers and two rudders

[0007] To sum up, the existing underactuated surface ship control methods either do not consider the impact of changes in the environment and obstacles in the port on the berthing path; or do not consider the coordinated control of the rudder and propeller wrong vehicle on the change of the heading angle; or do not consider The maneuvering motion characteristics of the ship itself cannot well solve the practical problems in the process of autonomous berthing of underactuated double propeller and double rudder ships

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