混合海浪作用下无人船泊船姿态自动控制方法

Automatic attitude control method of unmanned ship under mixed wave

现有的泊船姿态控制方法在计算海浪干扰结果时误差较大,为保证无人船航行过程中的稳定性,结合混合海浪作用,设计新的无人船泊船姿态自动控制方法。建立无人船运动模型,分别分析船体航行过程中的受力结果,并获取无人船运动的耦合方程;分别计算理想海浪模型与不同海况等级下的海浪模型,结合波幅频率计算混合海浪作用对无人船的干扰力;设计泊船姿态自动控制算法,设计控制器,将无人船的控制偏差输入进系统内,得到控制模型,并利用模型状态参量预测当前模型的控制结果,以调整无人船泊船姿态自动控制方法。在实验中,分别设定遭遇角角度为45°,90°,135°,测试3种对比控制方法的首摇角、横摇角以及舵角的响应角度。由实验结果可知,该控制方法在不同角度的遭遇角中,所得的响应角度均为3种对比方法中的最小值,可见该方法在3种方法中控制效果最好。

In order to ensure the stability of unmanned ship during navigation,combined with the action of mixed waves,a new automatic attitude control method for unmanned ship is designed.The motion model of unmanned ship is established,the force results of the ship during navigation are analyzed,and the coupling equation of unmanned ship motion is obtained.The ideal wave model and the wave model under different sea state levels are calculated respectively,and the interference force of the mixed wave on the unmanned ship is calculated combined with the wave amplitude frequency;Design the automatic attitude control algorithm and controller,input the control deviation of unmanned ship into the system,obtain the control model,and use the model state parameters to predict the control results of the current model,so as to adjust the automatic attitude control method of unmanned ship.In the experiment,the encounter angles are set to 45°,90°and 135°respectively,and the response angles of yaw angle,roll angle and rudder angle of the three comparative control methods are tested.The experimental results show that the response angle obtained by this control method in the encounter angle of different angles is the minimum of the three comparison methods,which shows that this method has the best control effect in the three methods.