面向船舶智能航行测试的变稳船控制系统设计  

Design of variable stability ship control system for ship intelligent navigation test

作　　者：刘佳仑[1,2] 谢玲利 李诗杰 杨帆[3] LIU Jialun;XIE Lingli;LI Shijie;YANG Fan(Intelligent Transport System Research Center,Wuhan University of Technology,Wuhan 430063,China;National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学智能交通系统研究中心,湖北武汉430063 [2]武汉理工大学国家水运安全工程技术研究中心,湖北武汉430063 [3]武汉理工大学交通与物流工程学院,湖北武汉430063

出　　处：《中国舰船研究》2023年第3期38-47,74,共11页Chinese Journal of Ship Research

基　　金：南方海洋科学与工程广东省实验室(珠海)资助项目(SML2021SP101);广东省自然资源厅广东省海洋经济发展(海洋六大产业)专项资金资助项目(粤自然资合[2021]59号);国家自然科学基金资助项目(62003250)。

摘　　要：[目的]智能航行控制系统作为智能船舶的大脑和中枢,其控制性能的好坏直接决定船舶航行的安全性和经济性,因此需要对船舶智能航行控制系统进行验证。面向智能船舶智能航行控制系统的验证问题,提出一种通用型验证平台——变稳船。[方法]首先,基于模型跟随原理提出一种变稳船系统架构,分析智能船舶三自由度上的运动特性,然后根据三自由度变稳目标定义位置变稳误差,采用滑模控制技术设计变稳控制器,最后,在Matlab软件中进行仿真验证。[结果]结果显示,提出的变稳控制方法能够有效跟踪模拟待模拟船,实现变稳性能。[结论]所做研究可为智能航行控制系统的验证提供新的思路。[Objectives]The navigation control system is the brain and center of an intelligent ship,and the safety and economy of the ship's navigation are directly determined by its control performance.Therefore,it is necessary to validate the ship intelligent navigation control system.This paper proposes a general verification platform,the variable stabilized ship,to simulate the sailing state of the target ship at different scales and with different hydrodynamic characteristics.[Methods]First,the structure of the variable stability ship is pro-posed on the basis of the model-following principle,and an analysis is made of the three degrees of freedom movement characteristics.The steady error between the variable stability ship and the target ship is determ-ined by their position errors,and the variable stability controller is built on the basis of sliding mode control.Finally,Matlab simulations are carried which verify that the proposed method can maneuver the variable sta-bility ship to follow the states of the target ship.[Results]Simulation results show that the proposed meth-od maneuver the variable stability ship to follow the states of the target ship.[Conclusions]The results of this study can provide references for the validation and verification of navigational control systems for intelli-gent ships.

关 键 词：智能船舶 变稳船 模型跟随 滑模控制 

分 类 号：U666.16[交通运输工程—船舶及航道工程]