近距离会遇时船舶避碰动态辅助模型  

Collision avoidance dynamic support model for ships meeting at a close range

作　　者：王欣[1] 刘正江[1] 李铁山[1] WANG Xin;LIU Zhengjiang;LI Tieshan(College of Navigation, Dalian Maritime University, Dalian 116026, China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《哈尔滨工程大学学报》2021年第9期1256-1261,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51909022,61976033);辽宁省自然科学基金博士科研启动基金计划(2019-BS-024);中央高校基本科研业务费专项资金项目(3132019347).

摘　　要：为了协助船员快速确定合理的避碰策略,本文通过将船舶操纵运动数学模型、控制算法以及避碰要素动态数学模型相结合,提出一种充分考虑船舶运动特性的近距离会遇时船舶避碰动态辅助模型。选取具有较高精度的3自由度分离型船舶运动模型(MMG模型)描述避碰过程中船舶操纵运动特性。将MMG模型等价变换得到非仿射纯反馈形式的船舶操纵运动控制系统,利用后推控制设计方法,并结合隐函数定理、中值定理、神经网络、动态面控制技术,设计了一种结构简单、效果良好的直接自适应控制算法。同时基于MMG模型特点,构建了准确适用的船舶避碰要素动态计算数学模型。利用2艘相距较近且处于交叉相遇局面的船舶进行避碰仿真和对比研究。结果表明:所提出的避碰动态辅助模型能准确描述避碰过程中船舶操纵运动轨迹,能计算出符合实际的船舶避碰要素数值,能够为船舶采取有效的避碰行动提供辅助支撑。To assist the crew in quickly deciding a reasonable collision avoidance strategy,a collision avoidance dynamic support model for ships meeting at close range is proposed in this study by combining the mathematical model and control algorithm of ship maneuvering motion,as well as the dynamic collision avoidance parameter mathematical model.First,a 3-degree-of-freedom maneuvering modeling group(MMG)model with high precision is selected to describe the maneuvering kinetic characteristics of a ship in the process of collision avoidance.Then,the MMG model is transformed into the ship maneuvering motion control system in non-affine pure-feedback form.Meanwhile,a simple and advanced direct adaptive control algorithm is developed based on the backstepping control design method,implicit function theorem,mean value theorem,neural network,and dynamic surface control technique.Moreover,an accurate and proper dynamic collision avoidance parameter mathematical model is constructed based on the characteristics of the MMG model.Finally,two ships meeting at close range and in the crossing situation are used to simulate collision avoidance.The results show that the proposed model can accurately describe the maneuvering motion trajectory of ships in the process of collision avoidance,calculate practical collision avoidance parameters,and provide support for effective ship action to collision avoidance.

关 键 词：海上安全 海上航行 避碰 事故预防 船舶模型 运动控制 自适应控制系统 神经网络 

分 类 号：U675[交通运输工程—船舶及航道工程]