CN100491915C - Autopilot course control system and method thereof - Google Patents
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Abstract
This invention relates to the shipping automatic control technology field, especially to a flight path automatic helm control system and its method. The system includes the crab effect, the course angle compensation, the dummy aim course and so on; the second part includes the course warp device and the course control device; the third part includes the helm angle instruction self-adjusting device, the ship velocity checking device and helm operation device; the fourth part includes the display device and the safe information box device. The method includes: the course angle complement demand; working out the course warp value; the helm angle demand self-adjusting; working out the actual shipping velocity; the helm angle control demand adjusting; the helm angle value sending to the shipping system; adjusting the actual course angle of the shipping device consistent to the aim course; sending the whole alarm information to the display device; displaying and upgrading these information on the display device; alarming when occurring accident.
Description
Technical field
The present invention relates to boats and ships automatic control technology field, particularly a kind of autopilot course control system and method thereof.
Background technology
Autopilot is the visual plant in the Ship Controling system.Course control is meant by handling steering wheel, makes the boats and ships angle of heading follow the tracks of set course.Ship Controling has non-linear slow time-varying characteristics, and ship motion also is subjected to the influence of various random disturbance (as wind, wave, stream).Modern autopilot requires to realize the control of accurate course, and has best steerability and adapt to well that the boats and ships dynamic perfromance changes and the ability of sea situation.
Traditional PID (proportion integration differentiation) autopilot is not considered the influence of various interference usually in design process, therefore lack the adaptive ability to boats and ships dynamic perfromance and sea situation variation, and too responsive to high frequency interference, causes frequent steering easily.Conventional adaptive autopilot then too relies on the mathematical model of boats and ships, if various interference are joined in the mathematical model of boats and ships, its mathematical model will become very complicated so, realization cost height, the parameter adjustment difficulty is big, and because there is non-linear factor in operating characteristics of ship, the control effect is difficult to guarantee.
Summary of the invention
In order to overcome the defective of PID rudder and adaptive rudder, the present invention designs a kind of novel autopilot course control system and method thereof, the accurate control problem in course when effectively solving boats and ships and navigating by water automatically.This system adopts the device structure, and various random disturbance (as wind, wave, stream) are set up corresponding yaw effect device and compensation system, determines the virtual target course by these devices and bogey heading; Obtain the required steering wheel rudder angle steering order in tracking virtual target course by directional control gear; And rudder angle instruction self-regulation device is set, and the boats and ships dynamic perfromance that causes according to ship speed and ocean current speed changes, and the rudder angle steering order is carried out real-Time Compensation; Control the steering wheel rudder angle then and follow the tracks of the rudder angle steering order, realize Ship Controling control the boats and ships dynamic perfromance changes and various sea situation has the good adaptive ability.
Control system can be divided into four parts.First is made up of yaw effect, course angle compensation, virtual target course device, the main adaptation control that realizes various sea situations.Each functional device of this part is realized by embedded controller; Yaw effect device M1, M2, M3 and course angle compensation system M4 and virtual target course device M5 are by analyzing various sea situations (wind direction S1, wind speed S2, wave S4) and the ship condition S3 influence to the Ship Controling dynamic perfromance, in conjunction with set course S6, calculate best virtual target course.Each functional device of this part is realized by embedded controller.
Second portion is made up of course deviation device and directional control gear, the main tracking Control that realizes the virtual target course of setting.The course deviation device comprises compass and embedded controller equipment; Directional control gear is realized by embedded controller; Course deviation device M6, directional control gear M7 be according to the deviation in actual heading S10 and virtual target course, the rudder angle steering order of the steering wheel of making a strategic decision out in real time.The course deviation device comprises equipment such as compass and embedded controller; Directional control gear is realized by embedded controller.
Third part instructs self-regulation device, ship's speed pick-up unit and steering apparatus to form by rudder angle, the main adaptive control that realizes the variation of boats and ships dynamic perfromance.Rudder angle instruction self-regulation device M8 changes according to the output valve of ship's speed pick-up unit M9, dynamically regulates the rudder angle steering order, and steering apparatus M10 then controls actual rudder angle, makes actual rudder angle follow the tracks of the rudder angle steering order.Rudder angle instruction self-regulation device is realized that by embedded controller steering apparatus comprises equipment such as hydrostatic transmission, rudder angle detection.
The 4th part is made up of display equipment and safety signal case apparatus, realizes the demonstration of rudder angle S9, ship course S10 and various alerting signal S11 etc.
Compare with the adaptive rudder system with traditional PID rudder, the present invention has following beneficial effect:
(1) control system is provided with various sea situation yaw effect analytic function devices, and various sea situations are carried out dynamic compensation, thereby can guarantee the control of accurate course;
(2) control system has rudder angle instruction self-regulating function device, thereby various sea situations and the variation of boats and ships dynamic perfromance are had the good adaptive ability;
(3) directional control gear can adopt existing control method, also can adopt intelligence control method;
(4) control system can be used as subsystem, is applied in the bridge system.
Description of drawings
Fig. 1 is Marine Autopilot course control system figure.
Fig. 2 is the method flow diagram of autopilot course control system.
Embodiment
Be further described below in conjunction with the main device of accompanying drawing the autopilot course control system.
Among Fig. 2, functional device comprises yaw effect device M1, yaw effect device M2, yaw effect device M3, course angle compensation system M4, virtual target course device M5, course deviation device M6, directional control gear M7, rudder angle instruction self-regulation device M8, ship's speed pick-up unit M9, steering apparatus M10, marine installation M11, safety signal case apparatus M12, display equipment M13.
Signal S1 represents wind direction, and S2 represents wind speed, and S3 represents the naval vessel condition, and S4 represents wave, S5 represent ocean current to, S6 represents bogey heading, S7 represents the speed of a ship or plane, S8 represents ocean current speed, S9 represents rudder angle, S10 represents actual heading, S11 represents alerting signal.
The method of autopilot course control system, its step is as follows:
(1) yaw effect device M1: according to passing through the bridge system or wind direction S1, the wind speed S2 of artificial input, the information of ship condition S3, analyze its influence, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance;
(2) yaw effect device M2: according to information, analyze its influence, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance by bridge system or the artificial wave S4 that imports;
(3) yaw effect device M3: to S5, analyze its influence according to the ocean current that passes through bridge system or artificial input, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance;
(4) course angle compensation system M4: comprehensive yaw effect device M1, yaw effect device M2, and the compensating instruction of yaw effect device M3 output, derive offset in real time to course angle;
(5) virtual target course device M5:, determine current virtual target directional command according to course angle offset by bridge system or artificial bogey heading S6 that sets and course angle compensation system M4 derivation;
(6) course deviation device M6: relatively actual heading angle S10 that feeds back from marine installation M11 and the virtual target directional command that provides from virtual target course device M5, obtain the course deviation value;
(7) directional control gear M7: the course deviation value according to course deviation device M6 draws, adopt control algolithm, the best steering wheel rudder angle steering order of making a strategic decision out, and output to rudder angle instruction self-regulation device M8;
(8) ship's speed pick-up unit M9: according to the information by bridge system or artificial speed of a ship or plane S7 that imports and ocean current speed S8, the speed over ground of Ship ';
(9) rudder angle instruction self-regulation device M8:,, the rudder angle steering order that directional control gear M7 derives is regulated in conjunction with the actual ship's speed that ship's speed pick-up unit M9 calculates according to the variation of ship's speed influence to the boats and ships dynamic perfromance;
(10) steering apparatus M10: with the rudder angle steering order through rudder angle instruction self-regulation device M8 adjusting is the target rudder angle, carry out the rudder angle tracking Control, make actual rudder angle S9 reach the target rudder angle, by changing rudder angle, realize control, simultaneously to the actual heading angle S10 of marine installation M11, output actual rudder angle value S9 give display equipment M13, as required, can also be as uploading signal, S9 is uploaded to the bridge system with the actual rudder angle value;
(11) marine installation M11: represent the course control of the marine installation M11 of whole marine system to realize, by changing the rudder angle value of steering apparatus M10, adjust to the actual heading angle S10 of marine installation M11 consistent with bogey heading by steering apparatus M10;
(12) safety signal case apparatus M12: system is carried out fault detect, and various alerting signal S11 are issued display equipment M13;
(13) display equipment M13: receive various alerting signal S11 from course angle signal S10, the safety signal case apparatus M12 of helm signal S9, the marine installation M11 of steering apparatus M10, and other information from the bridge system, real-time these information of display update on display, and when breaking down, report to the police.
Claims (4)
1. an autopilot course control system comprises four parts, and first is made up of yaw effect device, course angle compensation system, virtual target course device, the main adaptation control that realizes various sea situations; Each functional device of this part is realized by embedded controller;
Second portion is made up of course deviation device and directional control gear, the main tracking Control that realizes the virtual target course of setting; The course deviation device comprises compass and embedded controller equipment; Directional control gear is realized by embedded controller;
Third part instructs self-regulation device, ship's speed pick-up unit and steering apparatus to form by rudder angle, the main adaptive control that realizes the variation of boats and ships dynamic perfromance; Rudder angle instruction self-regulation device is realized that by embedded controller steering apparatus comprises hydrostatic transmission, rudder angle checkout equipment;
The 4th part is made up of display equipment and safety signal case apparatus, realizes the demonstration of rudder angle, ship course and various alerting signals;
The first yaw effect device (M1) of described yaw effect device, the second yaw effect device (M2), the 3rd yaw effect device (M3) and course angle compensation system (M4) and virtual target course device (M5) are by analyzing the influence to the Ship Controling dynamic perfromance of various sea situations and ship condition, in conjunction with set course, calculate best virtual target course.
2. according to the autopilot course control system of claim 1, it is characterized in that course deviation device (M6), directional control gear (M7) are according to the deviation in actual heading and virtual target course, the rudder angle steering order of the steering wheel of making a strategic decision out in real time.
3. according to the autopilot course control system of claim 1, it is characterized in that, rudder angle instruction self-regulation device (M8) is put (M9) according to the actual ship quick-mounting variation, dynamically regulate the rudder angle steering order, steering apparatus (M10) is then controlled actual rudder angle, makes actual rudder angle follow the tracks of the rudder angle steering order.
4. the method for an autopilot course control system, its step is as follows:
(1) first yaw effect device (M1): according to the information of the wind direction (S1) that passes through bridge system or artificial input, wind speed (S2), ship condition (S3), analyze its influence, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance;
(2) second yaw effect devices (M2): according to information, analyze its influence, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance by bridge system or the artificial wave of importing (S4);
(3) the 3rd yaw effect devices (M3): to (S5), analyze its influence according to the ocean current that passes through boat system or artificial input, provide compensating instruction at the course angle of this situation to the Ship Controling dynamic perfromance;
(4) course angle compensation system (M4): the comprehensive first yaw effect device (M1), the second yaw effect device (M2), and the compensating instruction of the 3rd yaw effect device (M3) output, derive offset in real time to course angle;
(5) virtual target course device (M5):, determine current virtual target directional command according to course angle offset by bridge system or artificial bogey heading of setting (S6) and course angle compensation system (M4) derivation;
(6) course deviation device (M6): relatively, obtain the course deviation value from actual heading angle (S10) that marine installation (M11) feeds back and the virtual target directional command that provides from virtual target course device (M5);
(7) directional control gear (M7): the course deviation value according to course deviation device (M6) draws, adopt control algolithm, the best steering wheel rudder angle steering order of making a strategic decision out, and output to rudder angle instruction self-regulation device (M8);
(8) ship's speed pick-up unit (M9): according to passing through bridge system or the speed of a ship or plane (S7) of artificial input and the information of ocean current speed (S8), the speed over ground of Ship ';
(9) rudder angle instruction self-regulation device (M8):,, the rudder angle steering order that directional control gear (M7) is derived is regulated in conjunction with the actual ship's speed that ship's speed pick-up unit (M9) calculates according to the variation of ship's speed influence to the boats and ships dynamic perfromance;
(10) steering apparatus (M10): with the rudder angle steering order through rudder angle instruction self-regulation device (M8) adjusting is the target rudder angle, carry out the rudder angle tracking Control, make actual rudder angle (S9) reach the target rudder angle, by changing rudder angle, realize control, simultaneously to the actual heading angle (S10) of marine installation (M11), output actual rudder angle value (S9) is given display equipment (M13), as required, can also be as uploading signal, (S9) is uploaded to the bridge system with the actual rudder angle value;
(11) marine installation (M11): represent the course control of the marine installation (M11) of whole marine system to realize by steering apparatus (M10), by changing the rudder angle value of steering apparatus (M10), adjust to the actual heading angle (S10) of marine installation (M11) consistent with bogey heading;
(12) safety signal case apparatus (M12): system is carried out fault detect, and various alerting signals (S11) are issued display equipment (M13);
(13) display equipment (M13): various alerting signals (S11), and other information of receiving course angle signal (S10), the safety signal case apparatus (M12) of helm signal (S9) from steering apparatus (M10), marine installation (M11) from the bridge system, real-time these information of display update on display, and when breaking down, report to the police.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004101018761A CN100491915C (en) | 2004-12-30 | 2004-12-30 | Autopilot course control system and method thereof |
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| CNB2004101018761A CN100491915C (en) | 2004-12-30 | 2004-12-30 | Autopilot course control system and method thereof |
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| CN100491915C true CN100491915C (en) | 2009-05-27 |
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Families Citing this family (11)
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| CN101694390B (en) * | 2009-10-20 | 2012-08-22 | 哈尔滨工程大学 | Ship heave movement measurement method based on optical fiber inertia measurement system |
| CN101859105A (en) * | 2010-06-21 | 2010-10-13 | 哈尔滨工程大学 | On-line forecasting method of fault of ship course control system |
| CN102815391B (en) * | 2012-07-31 | 2015-03-18 | 武汉船用机械有限责任公司 | Method and system for controlling full-steering rudder angle |
| CN102897295B (en) * | 2012-10-16 | 2015-03-18 | 武汉船用机械有限责任公司 | Hydraulic locking alarming system for electrohydraulic steering engine |
| CN103061963B (en) * | 2013-01-14 | 2015-06-17 | 北京华恒海惠海洋能有限责任公司 | Active yawing system, control method and wave power generation device |
| CN109814547B (en) * | 2018-12-24 | 2022-08-05 | 上海大学 | Unmanned ship course keeping device and method under action of wind wave interference |
| CN109709877B (en) * | 2019-01-31 | 2024-03-29 | 中国人民解放军海军工程大学 | Ship automatic control system and method independent of heading signals |
| CN111559488B (en) * | 2020-05-25 | 2022-05-06 | 智慧航海（青岛）科技有限公司 | Intelligent ship rudder equipment automatic control method and system |
| TWI750932B (en) * | 2020-12-03 | 2021-12-21 | 國立陽明交通大學 | Autonomous local trajectory generation system and method for real time navigation without detail vector map |
| CN113253720B (en) * | 2021-04-16 | 2023-04-04 | 上海中船船舶设计技术国家工程研究中心有限公司 | Ship course control method and system |
| CN114212215B (en) * | 2021-12-14 | 2023-02-03 | 深圳市博特动力技术有限公司 | Novel ship steering control method and system |
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