基于PLC的船舶导航系统高精度控制研究

Research on high precision Control of ship navigation System based on PLC

为保证舰船安全航行,精准控制航行的航向和航迹,提出基于PLC的舰船导航系统高精度控制方法。该方法以嵌入式PLC系统结构为主,在PLC控制器中设置基于粒子群优化的PID控制方法,控制导航系统相关参数,降低舰船横向偏差和航向偏差。在此基础上,采用免疫算法优化基于粒子群优化的PID控制方法的相关参数,获取全局最优解,降低导航系统的控制的随机性,避免超调量,实现舰船导航系统高精度控制。测试结果表明:该方法控制性能良好,绝对误差积分指标均在0.25以下;控制后舰船的横向最大误差为1.55 cm,航向最大误差为-2.2°,最大超调量为0.05%,可保证精准航迹控制和舰船航行的安全。

In order to ensure the safe navigation of ships and accurately control the course and track of navigation, the high-precision control method of ship navigation system based on PLC is studied. This method is based on the embedded PLC system structure, and the PID control method based on particle swarm optimization is set in the PLC controller to control the relevant parameters of the navigation system and reduce the lateral deviation and heading deviation of the ship;On this basis, the immune algorithm is used to optimize the relevant parameters of the PID control method based on particle swarm optimization to obtain the global optimal solution, reduce the randomness of the navigation system control, avoid overshoot, and realize the high-precision control of the ship navigation system. The test results show that the control performance of this method is good, and the absolute error integral index is below 0.25. After the control, the maximum lateral error of the ship is 1.55 cm, the maximum heading error is-2.2 °, and the maximum overshoot is 0.05%, which can ensure accurate track control and ship navigation safety.