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

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。

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.