摘要
为了进一步解决配备艏艉侧推的无人船在风流干扰下的平行靠泊问题,将靠泊任务拆分成艏向调整、纵向调整和横向调整,设计了3个对应的模糊控制器以及控制方式选择算法。根据船舶的当前状态选择不同的控制器,在风流干扰下采取并行控制的方式抵抗扰动。利用船舶操纵模拟器实现不同初始状态以及不同风、流干扰下两艘船的自主靠泊仿真,均能较好地完成靠泊,验证了靠泊系统控制算法的有效性,并具有一定的抗干扰能力以及泛化能力。
In order to further solve the parallel berthing problem of unmanned ships equipped with bow and stern thrusters under wind and current interference,the berthing task is divided into heading adjustment,longitudinal adjustment and latitude adjustment,and three corresponding fuzzy controllers and control method selection algorithms are designed.Different controllers are selected according to the current state of the ship,and the parallel control is adopted to resist disturbance under the disturbance of wind flow.The ship maneuvering simulator is used to realize the automatic berthing simulation of two ships under wind and current interference.The experiment results show that both ships can complete the berth well,which can verify the effectiveness of the berthing system control algorithm,and has anti-interference ability and generalization ability.
作者
郭飞
尹勇
GUO Fei;YIN Yong(Key Laboratory of Marine Simulation and Control for Ministry of Transportation,Dalian Maritime University,Dalian 116026,Liaoning,China)
出处
《船舶工程》
CSCD
北大核心
2022年第4期38-43,共6页
Ship Engineering
基金
中央高校基本科研业务费项目(3132019312)
大连市重大科技成果转化专项项目(2020ZD01CG001)
国家自然科学基金项目(52071049)。
关键词
自主靠泊
平行靠泊
模糊控制
侧推器
航海模拟器
automatic berthing
parallel berthing
fuzzy control
side thruster
navigation simulator
