A semi-adaptive control ship automatic steering device

Abstract

The present invention relates to the field of automatic rudder equipment, and more particularly to a semi-adaptive controlled ship automatic rudder device, the device comprising an acquisition module, a rudder angle closed-loop control module, a heading closed-loop control module, a gain optimization update module, and a ship model update module. The method comprises the following steps: acquiring the actual speed, actual heading, and actual rudder angle of the ship; obtaining the set heading of the ship, and calculating the heading deviation between the actual heading and the set heading; identifying the interference model of the ship model, and updating the current ship model based on the difference between the basic ship model and the current ship model; performing performance gain calculation or directly obtaining the input parameters to adjust the automatic rudder gain control parameters; and calculating the command rudder angle based on the optimized and updated automatic rudder gain control parameters, and sending the command rudder angle to the rudder angle closed-loop control module. The present invention has high compatibility, supports manual selection of performance gain, can quickly adjust control parameters, and reduces the consumption of controller computing resources.

Description

Technical Field

[0001] The present invention relates to the field of automatic steering equipment, and in particular to a semi-adaptive controlled ship automatic steering device. Background Art

[0002] With the development of intelligent ship technology, more and more ships are being equipped with autopilot systems. The PID autopilot (proportional-integral-derivative controller) has become the mainstream autopilot control method due to its simple control logic. The PID autopilot calculates the heading deviation between the set heading and the actual heading fed by the gyrocompass and uses the PID algorithm to control the rudder angle, thereby achieving automatic heading control. However, PID autopilots are prone to yaw and frequent steering, resulting in poor heading control and often requiring manual intervention. Therefore, research on adaptive autopilot technology has been put on the agenda.

[0003] Regarding adaptive autopilots, the document with publication number CN102819220A discloses a method for adaptive control of ship autopilots. This method completes the self-tuning of the autopilot by constructing a ship model, identifying a wave model, and performing a ship model identification process. The document with publication number CN111367178A discloses a device and method for adaptive control of ship autopilots. This document utilizes a ship basic parameter acquisition module, a ship model parameter processing module, a ship observation state parameter calculation module, etc. to achieve the purpose of spontaneously changing control parameters. The document with publication number CN112698575A discloses a method and system for adaptive fuzzy output feedback control of intelligent ship autopilots. This document utilizes a shipboard computer platform to establish a heading system model, an unconstrained error conversion module, a finite-time intermediate control function module, and a finite-time adaptive update rate to complete the design of a fuzzy adaptive output feedback controller for an intelligent ship autopilot system.

[0004] In the above-mentioned technical solution for adaptive autopilot control, in order to improve the level of unmanned operation, all links must be modeled, calculated and closed-loop output must be achieved in real time on the computer, which places high demands on the hardware equipment and makes it difficult to popularize on a large scale on ordinary ships. Summary of the Invention

[0005] The present invention aims to provide a semi-adaptive controlled marine autopilot device, which combines the intelligence of an adaptive autopilot with the economy and convenience of a PID autopilot.

[0006] The semi-adaptive controlled ship automatic steering device in this solution includes an acquisition module;

[0007] The acquisition module is used to collect the actual speed, actual heading and actual rudder angle of the ship during navigation;

[0008] It also includes a rudder angle closed-loop control module, a heading closed-loop control module, a gain optimization update module and a ship model update module. The functions of the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module and the ship model update module are superimposed in sequence to form multiple control systems. The control system includes: a follow-up rudder control system that can be independently formed by the rudder angle closed-loop control module, a heading control system formed by the rudder angle closed-loop control module and the heading closed-loop control module, a ship speed semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module and the gain optimization update module, and a ship model semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module and the ship model update module.

[0009] The beneficial effects of this program are:

[0010] When in use, the device of this solution controls the ship's autopilot with four architectures: rudder angle closed-loop control module, heading closed-loop control module, gain optimization update module, and ship model update module. It is compatible with existing PID autopilots, has a wider application range, facilitates product iteration and upgrades, and improves economic convenience.

[0011] Furthermore, the rudder angle closed-loop control module is controlled by a preset circuit when used as a follow-up rudder control system. The rudder angle closed-loop control module is used to obtain the actual rudder angle of the ship, compare the actual rudder angle with the command rudder angle, generate a control command for the hydraulic steering gear, and send it to the hydraulic steering gear of the ship to control the ship's steering;

[0012] The heading closed-loop control module is used to collect the actual heading of the ship, and compare the actual heading with the set heading to obtain a comparison result, generate a command rudder angle based on the comparison result and the heading deviation of the heading closed-loop control module, and send it to the rudder angle closed-loop control module;

[0013] The gain optimization and updating module is used to collect the actual speed of the ship, and generate an optimized gain on the modified ship model according to the performance gain and actual speed obtained in a semi-adaptive manner, and send the optimized gain to the heading closed-loop control module;

[0014] The ship model update module is used to receive the actual rudder angle of the ship and the heading deviation of the heading closed-loop control module, perform interference model identification, correct the current sailing ship model based on the pre-stored basic ship model, and send it to the gain optimization update module.

[0015] The beneficial effects are: the performance gain obtained by the semi-adaptive method is used for closed-loop control of heading. When facing complex sea conditions and nonlinear interference in ship motion control, manual selection of performance gain is supported, control parameters can be quickly adjusted, and the consumption of controller computing resources is reduced; at the same time, through the update operation of the ship update module, adaptive control is supported when facing conventional ship motion control, and control parameters can be automatically adjusted to reduce manual intervention.

[0016] Furthermore, the gain optimization update module includes a gain inputter and a performance index gain calculator, the gain inputter is used to input performance gain, the performance index gain calculator is used to automatically generate performance gain, and the gain optimization update module obtains performance gain through the gain inputter or from the performance index gain calculator.

[0017] The beneficial effects are: obtaining performance gains through input or automatic generation, controlling the ship in a semi-adaptive control mode, and facilitating rapid switching into the control process according to the navigation conditions of the ship.

[0018] Furthermore, the heading closed-loop control module includes a heading setter, a deviation calculator and a command rudder angle calculator. The heading setter is used to input a set heading. The deviation calculator obtains the actual heading from the acquisition module and the set heading obtained from the heading setter, and makes a difference to obtain the heading deviation. The command rudder angle calculator obtains the heading deviation from the deviation calculator and the performance gain from the performance index gain calculator to generate the command rudder angle.

[0019] The beneficial effect is that the actual heading collected is subtracted from the set heading to obtain the heading deviation, and the heading deviation is used to generate the command rudder angle. The set heading is directly obtained without the need to establish a model for calculation, thereby improving the speed of generating the command rudder angle.

[0020] Furthermore, the ship model update module includes a ship basic model library and a model identifier. The ship basic model library stores a basic ship model. The model identifier obtains the heading deviation from the deviation calculator, and performs interference model identification after subtracting the basic ship model from the heading deviation, and then corrects the ship model by subtracting the basic ship model from the interference model.

[0021] The beneficial effect is that when the ship model changes, the ship model is updated instead of being generated in real time, which can reduce the amount of calculation during model calculation and improve the updating speed of the ship model after the change.

[0022] Furthermore, the performance index gain calculator generates an optimized gain based on the performance gain and the actual speed on the modified ship model.

[0023] Furthermore, the rudder angle closed-loop control module obtains the command rudder angle from the command rudder angle calculator and the actual rudder angle from the acquisition module, and makes a difference to obtain a control instruction for the hydraulic steering gear.

[0024] Furthermore, the acquisition module includes a speed log, a gyrocompass and a rudder angle feedback device, the speed log detects the actual speed of the ship, the gyrocompass detects the actual heading of the ship, and the rudder angle feedback device detects the actual rudder angle of the ship.

[0025] The beneficial effect is: real-time monitoring of multiple parameters is performed separately, thereby improving the accuracy of detection.

[0026] A semi-adaptive control method for ship autopilot includes the following:

[0027] Collect the actual speed, actual heading and actual rudder angle of the ship;

[0028] Obtain the set heading of the ship and calculate the heading deviation between the actual heading and the set heading;

[0029] Based on the actual rudder angle, the basic ship model closest to the current ship motion state is searched in the basic ship model library. The interference model of the ship model is identified using the basic ship model and the heading deviation. If the interference model exists and the basic ship model is different from the current ship model, the basic ship model is subtracted from the interference model to update and correct it to obtain the current ship model. Otherwise, no update is performed.

[0030] Send the parameter data set of the current ship model to the performance index gain calculator. If the automatic mode is selected, the autopilot gain control parameters are optimized and updated. If the manual mode is selected, the input parameters are obtained and the autopilot gain control parameters are adjusted.

[0031] The optimized and updated autopilot gain control parameters are sent to the command rudder angle calculator to calculate the command rudder angle and send it to the rudder angle closed-loop control module to achieve automatic steering of the ship.

[0032] The beneficial effects of this program are:

[0033] The method of this scheme uses the performance gain obtained semi-adaptively for closed-loop control of heading. When facing complex sea conditions and nonlinear interference in ship motion control, it supports manual selection of performance gain, can quickly adjust control parameters, and reduce the consumption of controller computing resources. At the same time, the ship model is updated instead of generating the ship model each time. When facing conventional ship motion control, it supports adaptive control, can realize automatic adjustment of control parameters, and reduce human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a principle block diagram of a semi-adaptive control ship automatic steering device according to an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of a semi-adaptive control method for ship automatic steering according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following is further explained in detail through specific implementation methods.

[0037] Example

[0038] Semi-adaptive control of ship automatic steering device, such as Figure 1 As shown: It includes an acquisition module, which is used to collect the actual speed, actual heading and actual rudder angle of the ship during navigation. The acquisition module includes a speedometer, a gyrocompass and a rudder angle feedback device. The speedometer, gyrocompass and rudder angle feedback device use products on existing ships. The speedometer detects the actual speed of the ship, the gyrocompass detects the actual heading of the ship, and the rudder angle feedback device detects the actual rudder angle of the ship.

[0039] It also includes a rudder angle closed-loop control module, a heading closed-loop control module, a gain optimization update module and a ship model update module. The heading closed-loop control module is used to collect the actual heading of the ship, compare the actual heading with the set heading, generate a command rudder angle, and send it to the rudder angle closed-loop control module. The heading closed-loop control module includes a heading setter, a deviation calculator and a command rudder angle calculator. The heading setter is used to input the set heading. The heading setter can input the set heading through existing keys or buttons. The deviation calculator obtains the actual heading from the acquisition module and the set heading from the heading setter to obtain the heading deviation. The command rudder angle calculator obtains the heading deviation from the deviation calculator and the performance gain from the performance index gain calculator to generate the command rudder angle. For example, a fuzzy PID algorithm or a fuzzy neural network algorithm can be used to generate the command rudder angle.

[0040] The ship model update module is used to receive the actual rudder angle of the ship and the heading deviation of the heading closed-loop control module, and perform interference model identification. The interference model identification is performed according to the method in GB / T 24952-2010 / ISO 16329:2003. The interference model is the KT model and the rudder control device transfer function under the interference conditions of waves and sea conditions in this standard. The current sailing ship model is corrected based on the pre-stored basic ship model and sent to the gain optimization update module. The ship model update module includes a ship basic model library and a model identifier. The ship basic model library stores the basic ship model. The basic ship model refers to the control model of the ship when sailing along the route, such as the parameter control of the heading and rudder angle when the ship is traveling from A to B. The model identifier obtains the heading deviation from the deviation calculator, subtracts the basic ship model from the heading deviation, and then performs interference model identification. The basic ship model is then subtracted from the interference model to correct the ship model to obtain the current ship model.

[0041] The gain optimization update module is used to collect the actual speed of the ship and generate an optimized gain based on the performance gain and actual speed obtained in a semi-adaptive manner. The optimized gain is the rudder control device parameter in the standard GB / T 24952-2010 / ISO 16329:2003. The gain optimization update module sends the optimized gain to the heading closed-loop control module. The gain optimization update module includes a gain inputter and a performance index gain calculator. The gain inputter is used to input the performance gain, and the performance index gain calculator is used to automatically generate the performance gain. The gain optimization update module obtains the performance gain through the gain inputter or from the performance index gain calculator. The semi-adaptive method refers to obtaining the performance gain through input or automatically generating the performance gain. Because different ship models have different control parameters, the performance index gain calculator will automatically calculate the current control parameters according to different ship models to ensure control accuracy.

[0042] When used as a follow-up rudder control system, the rudder angle closed-loop control module is controlled by a preset circuit. This preset circuit is an existing hardware circuit and will not be described in detail here. The rudder angle closed-loop control module is used to obtain the ship's actual rudder angle, compare it with the command rudder angle, and generate control instructions for the hydraulic steering gear. This control instruction is generated according to the steering gear model formula B.4 in the standard GB / T 24952-2010 / ISO 16329:2003. The rudder angle closed-loop control module sends the control instructions to the ship's hydraulic steering gear for ship steering control. The rudder angle closed-loop control module obtains the command rudder angle from the command rudder angle calculator and the actual rudder angle from the acquisition module, and then calculates the difference to obtain the control instruction for the hydraulic steering gear.

[0043] The functions of the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module, and the ship model update module are superimposed in sequence to form a variety of control systems. The control systems include: a follow-up rudder control system that can be independently formed by the rudder angle closed-loop control module. The follow-up rudder control system does not use software that automatically generates parameters for control, but only uses preset circuits. The follow-up rudder control system means that in the follow-up steering mode, the rudder angle is automatically adjusted, and the adjustment object of its closed-loop adjustment system is the rudder blade, and the adjusted quantity is the rudder angle; the heading control system formed by the rudder angle closed-loop control module and the heading closed-loop control module, the heading control system adjusts the ship's heading through heading settings , the regulated variable is the heading; the ship speed semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module and the gain optimization update module, the ship speed semi-adaptive automatic rudder control system is capable of controlling the rudder angle by manually inputting performance gains or automatically generating performance gains, and adapting to the control of different ship speeds; the ship model semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module and the ship model update module, the ship model semi-adaptive automatic rudder control system is capable of updating and correcting the corresponding ship model by inputting parameters or automatically generating parameters, and adapting to the control of different sea conditions.

[0044] Semi-adaptive control of ship autopilot methods, such as Figure 2 As shown, including the following:

[0045] Collect the actual speed, actual heading and actual rudder angle of the ship;

[0046] Obtain the set heading of the ship and calculate the heading deviation between the actual heading and the set heading;

[0047] Based on the actual rudder angle, the basic ship model closest to the current ship motion state is searched in the basic ship model library. The interference model of the ship model is identified using the basic ship model and the heading deviation. If the interference model exists and the basic ship model is different from the current ship model, the basic ship model is subtracted from the interference model to update and correct it to obtain the current ship model. Otherwise, no update is performed.

[0048] The parameter data set of the current ship model is sent to the performance index gain calculator. The parameter data set is obtained according to the ship model calculation process and parameter data set provided by the IEC62065 standard. The parameter data set is shown in Table 1.4 of the standard. If the automatic mode is selected, the autopilot gain control parameters are optimized and updated. If the manual mode is selected, the input parameters are obtained and the autopilot gain control parameters are adjusted.

[0049] The optimized and updated autopilot gain control parameters are sent to the command rudder angle calculator to calculate the command rudder angle and send it to the rudder angle closed-loop control module to achieve automatic steering of the ship.

[0050] This embodiment designs a four-layer architecture for the ship's autopilot, utilizing a rudder angle closed-loop control module, a heading closed-loop control module, a gain optimization update module, and a ship model update module. The performance gains acquired through semi-adaptive control are used for closed-loop heading control, and the ship update module is updated, eliminating the need for on-site ship model generation. Compared to existing adaptive control methods, this embodiment is compatible with existing PID autopilots, offering wider applications and facilitating product iteration and upgrades. Furthermore, when controlling ship motion in complex sea conditions and nonlinear interference, it supports manual selection of performance gains, enabling rapid adjustment of control parameters and reducing the controller's computing resource consumption. This reduces the amount of computation required and speeds up control-related calculations.

[0051] The above is only an embodiment of the present invention, and the common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A semi-adaptive control ship autopilot device, comprising an acquisition module; The acquisition module is used to collect the actual speed, actual heading and actual rudder angle of the ship during navigation; Its characteristics are: It also includes a rudder angle closed-loop control module, a heading closed-loop control module, a gain optimization update module and a ship model update module. The functions of the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module and the ship model update module are superimposed in sequence to form multiple control systems. The control system includes: a follow-up rudder control system that can be independently formed by the rudder angle closed-loop control module, a heading control system formed by the rudder angle closed-loop control module and the heading closed-loop control module, a ship speed semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module and the gain optimization update module, and a ship model semi-adaptive automatic rudder control system formed by the rudder angle closed-loop control module, the heading closed-loop control module, the gain optimization update module and the ship model update module; The heading closed-loop control module includes a heading setter, a deviation calculator, and a command rudder angle calculator. The heading setter is used to input a set heading. The deviation calculator obtains the actual heading from the acquisition module and the set heading from the heading setter, and then subtracts it to obtain a heading deviation. The command rudder angle calculator obtains the heading deviation from the deviation calculator and the performance gain from the performance index gain calculator to generate a command rudder angle. The ship model update module includes a ship basic model library and a model identifier. The ship basic model library stores a basic ship model. The model identifier obtains the heading deviation from the deviation calculator, and performs interference model identification after subtracting the basic ship model from the heading deviation, and then corrects the ship model by subtracting the basic ship model from the interference model.

2. The semi-adaptive control ship automatic steering device according to claim 1, characterized in that: The heading closed-loop control module is used to collect the actual heading of the ship, and compare the actual heading with the set heading to obtain a comparison result, generate a command rudder angle based on the comparison result and the heading deviation of the heading closed-loop control module, and send it to the rudder angle closed-loop control module; The ship model update module is used to receive the actual rudder angle of the ship and the heading deviation of the heading closed-loop control module, perform interference model identification, modify the current sailing ship model based on the pre-stored basic ship model, and send it to the gain optimization update module; The gain optimization and updating module is used to collect the actual speed of the ship, and generate an optimized gain on the modified ship model according to the performance gain and actual speed obtained in a semi-adaptive manner, and send the optimized gain to the heading closed-loop control module; When used as a follow-up rudder control system, the rudder angle closed-loop control module is controlled by a preset circuit. The rudder angle closed-loop control module is used to obtain the actual rudder angle of the ship, compare the actual rudder angle with the command rudder angle, generate a control instruction for the hydraulic steering gear, and send it to the hydraulic steering gear of the ship to control the ship's steering.

3. The semi-adaptive control ship automatic steering device according to claim 2, characterized in that: The gain optimization update module includes a gain inputter and a performance index gain calculator. The gain inputter is used to input performance gain, the performance index gain calculator is used to automatically generate performance gain, and the gain optimization update module obtains performance gain through the gain inputter or from the performance index gain calculator.

4. The semi-adaptive control ship automatic steering device according to claim 1, characterized in that: The performance index gain calculator generates an optimized gain based on the performance gain and the actual speed on the modified ship model.

5. The semi-adaptive control ship automatic steering device according to claim 1, characterized in that: The rudder angle closed-loop control module obtains the command rudder angle from the command rudder angle calculator and the actual rudder angle from the acquisition module, and makes a difference to obtain the control instruction of the hydraulic steering gear.

6. The semi-adaptive control ship automatic steering device according to claim 5, characterized in that: The acquisition module includes a speed log, a gyrocompass and a rudder angle feedback device. The speed log detects the actual speed of the ship, the gyrocompass detects the actual heading of the ship, and the rudder angle feedback device detects the actual rudder angle of the ship.

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