基于模糊自适应PID的欠驱动船舶靠泊自动控制方法  

Automatic control method for underactuated ship berthing based on fuzzy adaptive PID

作　　者：范凌云 腾立国 FAN Lingyun;TENG Liguo(School of Applied Technology,Dalian Ocean University,Dalian 116399,China)

机构地区：[1]大连海洋大学应用技术学院,辽宁大连116399

出　　处：《舰船科学技术》2024年第11期70-74,共5页Ship Science and Technology

摘　　要：欠驱动船舶动力布局不均匀、船舶转向能力和速度调节能力较差,其靠泊受外界风力、水流等影响控制难度过高。为解决这一问题,本文提出一种基于模糊自适应PID的欠驱动船舶靠泊自动控制方法。首先依据欠驱动船舶的运动学与动力学模型,利用视线角导航算法,确定欠驱动船舶靠泊航行轨迹;然后利用模糊自适应PID控制算法,通过船舶靠泊的首向控制器与速度控制器,利用模糊控制规则,实时推理获取最佳的PID控制参数,控制船舶靠泊的航向角与速度趋于期望航向与期望航速;最后将模糊自适应PID控制算法的控制输出传送至船舶的执行机构,使船舶依据规划的靠泊路径航行,实现欠驱动船舶靠泊自动控制。实验结果表明,该方法可有效控制欠驱动船舶靠泊,低速航行时,仍能保持较低的船舶航向角与航行速度控制误差,应用效果不佳。Underactuated ships have uneven power layout,poor turning and speed regulation capabilities,and their berthing is difficult to control due to external wind,water flow,and other factors.To address this issue,this study proposes a fuzzy adaptive PID based automatic control method for underactuated ship berthing.This time,based on the kinematic and dynamic models of underactuated ships,the line of sight navigation algorithm is used to determine the berthing and navigation trajectory of underactuated ships.Then,using the fuzzy adaptive PID control algorithm,the optimal PID control parameters are obtained through real-time inference using fuzzy control rules through the bow controller and speed controller of the ship berthing,to control the heading angle and speed of the ship berthing towards the desired heading and speed.Finally,the control output of the fuzzy adaptive PID control algorithm is transmitted to the execution mechanism of the ship,allowing the ship to navigate according to the planned berthing path,achieving automatic control of underactuated ship berthing.The experimental results show that this method can effectively control the berthing of underactuated ships,and can still maintain low ship heading angle and navigation speed control errors at low speeds,but the application effect is not satisfactory.

关 键 词：PID 欠驱动 船舶靠泊 自动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]