内河弯曲河道船舶过弯自适应航迹控制仿真

doi:10.16182/j.issn1004731x.joss.19-0526

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (2): 461-471.doi: 10.16182/j.issn1004731x.joss.19-0526

内河弯曲河道船舶过弯自适应航迹控制仿真

甘浪雄^1,2, 吴昌胜^1,2, 邓巍^1,2, 郑元洲^1,2, 周春辉^1,2

1.武汉理工大学航运学院,湖北武汉 430063;
2.内河航运技术湖北省重点实验室,湖北武汉 430063

收稿日期:2019-09-12 修回日期:2019-11-26 出版日期:2021-02-18 发布日期:2021-02-20
作者简介:甘浪雄(1969-),男,博士,教授,研究方向为船舶航行安全保障技术等。E-mail：glx701227@163.com
基金资助:
湖北省自然科学基金面上项目(2014CFB856),中央高校基本研究经费(2015IVA042)

Simulation of Adaptive Track Control of Ship Bending in Inland River Curved Channel

Gan Langxiong^1,2, Wu Changsheng^1,2, Deng Wei^1,2, Zheng Yuanzhou^1,2, Zhou Chunhui^1,2

1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China;
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China

Received:2019-09-12 Revised:2019-11-26 Online:2021-02-18 Published:2021-02-20

摘要/Abstract

摘要： 针对弯曲河段水流特征复杂,船舶过弯操纵困难等特点,结合船舶AIS(Automatic identification System)轨迹及习惯航路特征,采用智能航迹航向控制算法实现船舶安全过弯的自动控制。选取研究水域,根据分道航行规则合理规划船舶过弯航迹,构建船舶运动仿真软件,融合自适应模糊控制算法与传统PID控制设计了自适应模糊PID航迹航向控制器,对非汛期、汛期船舶上下行过弯航迹控制仿真。结果表明：不同环境下自适应模糊PID控制器均能很好跟踪控制船舶航迹,更贴合实际航迹,能够保障船舶过弯安全性与可靠性。

关键词: 弯曲河段, 船舶操纵, 自适应模糊控制, PID控制仿真

Abstract: In view of the complex flow characteristics and difficult maneuvering of ships in curved river section, combined with the characteristics of ship AIS trajectory and customary route, the intelligent track and heading control algorithm is adopted to realize the automatic control of ship's safe turning. Firstly, the research waters are selected and according to the rules of lane-dividing navigation, the ship's turning track is reasonably planned. Then the ship motion simulation software is constructed, and the self-adaptive fuzzy PID course controller is designed by combining the self-adaptive fuzzy control algorithm and traditional PID control, the simulation of the ship's turning track control in non-flood season and flood season is carried out. The results show that the adaptive fuzzy PID controller can track and control the ship's track well in different environments, which is more suitable for the actual track and can guarantee the safety and reliability of the ship's over-bending.

Key words: curved river section, ship maneuvering, adaptive fuzzy control, PID control simulation

中图分类号:

甘浪雄, 吴昌胜, 邓巍, 郑元洲, 周春辉. 内河弯曲河道船舶过弯自适应航迹控制仿真[J]. 系统仿真学报, 2021, 33(2): 461-471.

Gan Langxiong, Wu Changsheng, Deng Wei, Zheng Yuanzhou, Zhou Chunhui. Simulation of Adaptive Track Control of Ship Bending in Inland River Curved Channel[J]. Journal of System Simulation, 2021, 33(2): 461-471.

参考文献

[1] 傅天清. 简单圆弧曲线弯道水流特性研究[D]. 太原: 太原理工大学, 2003.
Fu Tianqing.Research on Flow Property in the Simple Round Curve Tortuous Path[D]. Taiyuan: Taiyuan University of Technology, 2003.
[2] 张帅帅, 杨胜发, 何洋, 等. 长江弯曲型河段泥沙淤积特性分析[J]. 水运工程, 2013(3): 153-157.
Zhang Shuaishuai, Yang Shengfa, He Yang, et al.Analysis of Sedimentation Deposition in Curved Reach of the Yangtze River[J]. Port & Waterway Engineering, 2013(3): 153-157.
[3] 甘浪雄, 彭家敏, 谭志荣. 弯曲航道的设计[J]. 上海海事大学学报, 2007, 28(1): 111-114.
Gan Langxiong, Peng Jiamin, Tan Zhirong.Design of Channel Bends[J]. Journal of Shanghai Maritime University, 2007, 28(1): 111-114.
[4] 黄恺, 潘剑波. 基于bim的航道改造对船舶通航能力影响建模[J]. 舰船科学技术, 2018, 40(2): 76-78, 82.
Huang Kai, Pan Jianbo.Impact of Bim-based Channel Modification on Ship Navigation Capability[J]. Ship Science and Technology, 2018, 40(2):76-78, 82.
[5] 徐艳军. 弯曲航道安全通航保障技术研究[D]. 舟山: 浙江海洋大学, 2017.
Xu Yanjun.Research on Safety Navigation Technology of Curved Channel[D]. Zhoushan: Zhejiang Ocean University, 2017.
[6] 李庆春. 新型PID模糊控制器的结构分析及应用研究[D]. 长沙: 中南大学, 2010.
Li Qingchun.Structure Analysis and Application Research of New Fuzzy PID Controllers[D]. Changsha: Central South University, 2010.
[7] An M, Zhou P, Zheng Z X.Design of Ship Course Controller Based on Fuzzy-PID Algorithm[C]// 2015 5th International Conference on Computer Sciences and Automation Engineering (ICCSAE 2015), France: Atlantis Press, 2016.
[8] Liu S, Xing B, Zhu W.A fusion Fuzzy PID Controller with Real-time Implementation on a Ship Course Control System[C]// 2015 23th Mediterranean Conference on Control and Automation (MED). Torremolinos Malaga Spain: IEEE, 2015: 916-920.
[9] 傅寰宇. 模拟退火算法在船舶航向PID控制器参数优化中的研究[J]. 舰船科学技术, 2017, 39(1A): 25-27.
Fu Huanyu.Study of Simulated Annealing Algorithm in Parameter Optimization of PID Controller for Ship Course[J]. Ship Science & Technology, 2017, 39(1A): 25-27.
[10] Bhattacharyya S K, Gupta D K.Target Path Iteration Method for Trajectory Control of Ships[J]. Applied Ocean Research (S0141-1187), 2014, 48: 55-65.
[11] 徐海军, 李伟, 张国庆, 等. 基于闭环增益成形算法的船舶航迹保持控制[J]. 中国航海, 2016, 39(4): 47-51.
Xu Haijun, Li Wei, Zhang Guoqing, et al.Ship Track-Keeping Control Based on Closed-Loop Gain Shaping Algorithm[J]. Navigation of China, 2016, 39(4): 47-51.
[12] 郑涛. 弯曲河段航道宽度确定机理研究[D]. 重庆: 重庆交通大学, 2009.
Zheng Tao.Study on Channel Width Determined Mechanism In Bending Reach[D]. Chongqing: Chongqing Jiaotong University, 2009.
[13] 李志云, 郭国平. 关于弯曲河道对船舶通航影响的研究及对策[J]. 中国水运, 2007, 5(3): 10-11.
Li Zhiyun, Guo Guoping.Research and Countermeasure on the Impact of Bending Channel on Ship Navigation[J]. China Water Transport, 2007, 5(3): 10-11.
[14] 汤忠谷, 施立人. 水面船舶的空气动力[J]. 武汉水运工程学院学报, 1982(4): 79-89.
Tang Zhonggu, Shi Liren.Aerodynamics of Surface Ships[J]. Journal of Wuhan Institute of Water Transport Engineering, 1982(4): 79-89.

内河弯曲河道船舶过弯自适应航迹控制仿真

Simulation of Adaptive Track Control of Ship Bending in Inland River Curved Channel

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics

本文评价