JP4917272B2 - Ship automatic steering system - Google Patents

Description

  The present invention relates to a marine vessel automatic steering apparatus having an identification function for identifying a hull parameter in a hull model.

  The automatic steering device for ships is a device that controls the rudder to make the direction from the gyrocompass follow the set course. The command steering angle, which is a control amount, is output to the steering machine by multiplying the gain. The steering machine moves the rudder, induces a turning angular velocity in the hull, and changes the direction.

  The overall system including the automatic steering device will be described with reference to FIG. 1. Reference numeral 12 denotes an automatic steering device, 14 denotes a steering machine, 16 denotes a hull, and the automatic steering device 12 further includes a trajectory calculation unit 22, a subtractor. 24, a feedforward controller 26, a feedback controller 28, an adder 30, and an identification calculation unit 32.

Trajectory calculation unit 22 inputs the preset course [psi _S, is intended for calculating the reference course [psi _R based on the trajectory plan from preset course [psi _S. The subtractor 24 takes a deviation e between the reference course ψ _R and the heading ψ of the hull 16 and inputs it to the feedback controller 28 to be multiplied by the control gain. The outputs of the feedforward controller 26 and the feedback controller 28 are added by the adder 30 to obtain the command steering angle δ _c .

  The identification calculation unit 32 identifies a hull parameter, and the identified hull parameter is input to the trajectory calculation unit 22, the feedforward controller 26, and the feedback control unit 28, and is used for each calculation and control.

  For example, the draft of a ship such as a cargo ship or a tanker changes depending on loading and unloading of luggage. For this reason, if the hull characteristics change and the control gain before unloading is used, the closed loop stability of the steering system is lowered and yawing occurs. In order to avoid this situation, Non-Patent Document 1 proposes a method for identifying hull parameters and setting a control gain.

Patent document 1 by the present applicant proposes an automatic steering device for a ship that performs an identification calculation by off-line processing. FIG. 13 is a block diagram of the identification calculation unit 32, which includes the same subtractor 24-1, feedforward control unit 26-1, feedback control unit 28-1, and adder 30-1 as the automatic steering device 12. In addition, a control target model 34, a subtractor 36, and a parameter adjustment unit 38 are provided. The input data supplied to the identification calculation unit 32 includes the reference course ψ _R from the trajectory calculation unit 22, and the output data supplied in the same manner includes a deviation e from the subtractor 24. Is temporarily stored in the memory, and the processing in the identification calculation unit 32 is performed off-line.

The identification calculation section 32, the subtractor 36, and the model deviation e _m obtained by the subtractor 24-1, the identification error is the difference between the deviation e obtained. The parameter adjustment unit 38 basically obtains a hull parameter identification value that minimizes the identification error, and obtains the hull parameter identification value in addition to the control target model 34, the trajectory calculation unit 22, the feedforward controller 26, and the feedback control unit 28. To supply.

The above control target model 34 is approximated by a first order model represented by a transfer function K / (T s +1) using a Laplace operator s, and a hull parameter to be identified is a turning force index K, The tracking stability index T is a time constant. The parameter adjusting unit 38 obtains the average and variance of identification errors for each parameter, finds the minimum value of variance, and finds the case where the mean is 0, thereby identifying the hull parameters K and T.

  For the disturbance model, the steering angle offset is incorporated as a term proportional to the reference course.

Otsu, Hasegawa, IX. Autopilot Evaluation and Prospect, 3rd Maneuverable Symfodium Text, Japan Society of Shipbuilding Research, Tank Committee, p.243 / 279 (1981) JP 2001-18893 A

However, the identification described in Patent Document 1 has the following problems.
・ Since the hull model is approximated by a primary model, some ships may overshoot at the time of turning.
・ Since the rudder angle offset, which is a disturbance model, is only a term proportional to the reference course, an identification error occurs due to the rudder angle offset before changing the needle or when the needle is held, and this cannot be ignored.
-If this is performed when the initial value of the hull motion is not almost zero during automatic course changing, the identification error due to this initial value cannot be ignored.
-Since the closed loop is used, when the number of parameters to be identified increases, the order becomes the sum of the identification model and the control system, so that the amount of calculation increases dramatically, making practical application difficult.
・ After the ship leaves the berth, it moves to automatic maneuvering through manual maneuvering, so manual identification is essential for safety, but the conventional identification calculation unit cannot identify when maneuvering manually.
The conventional procedure for searching for a parameter by obtaining a minimum value or zero value of the average or variance for each parameter greatly increases the amount of calculation as the number of parameters to be identified increases, making it difficult to put into practical use.

  The present invention has been made in view of such problems, and an object of the present invention is to provide an automatic marine steering apparatus that can perform identification more suitable for practical use.

In order to achieve such an object, the invention according to claim 1 of the present invention provides an automatic steering apparatus for a ship that outputs a command rudder angle using a hull parameter based on a set course and heading.
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model, and the transfer function of the hull model is:

で表されることを特徴とする。

It is represented by.

The invention described in claim 2 is an automatic steering apparatus for a ship that outputs a command rudder angle using a hull parameter based on a set course and heading.
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model and a disturbance model, and the disturbance model incorporates a steering angle offset δ ₀ before the course change or at the time of holding as the steering angle offset, and the identification calculation unit includes the hull parameter At the same time, the steering angle offset δ ₀ before changing the needle or at the time of holding is used as a parameter to be identified.

The invention described in claim 3 is an automatic steering apparatus for a ship that outputs a command rudder angle using a hull parameter based on a set course and heading.
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model and a disturbance model, and the disturbance model incorporates c _δ ψ (ψ: heading) as a rudder angle offset, and the identification calculation unit includes a rudder angle together with the hull parameters. The offset coefficient c _δ is a parameter to be identified.

Invention of Claim 4 is the automatic steering device for ships which outputs a command rudder angle using a hull parameter based on a setting course and a heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model incorporates a hull model and an initial value of the hull motion at the time of changing the needle, and the identification calculation unit sets the initial value of the hull motion together with the hull parameter as a parameter to be identified. .

  According to a fifth aspect of the present invention, in the fourth aspect, the initial value of the hull motion is an initial value of a turning angular velocity of the hull.

  A sixth aspect of the present invention is characterized in that, in any one of the first to fifth aspects, a command steering angle is used as the input data, and a heading is used as the output data.

The invention described in claim 7 is an automatic steering apparatus for a ship that outputs a command rudder angle using a hull parameter based on a set course and heading.
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The input data is a command steering angle, and the output data is a heading.

  The invention according to claim 8 is an identification in which the parameter adjustment unit according to any one of claims 1 to 7 minimizes an evaluation function that is a scalar value that is a function of a difference between model output data and output data. A parameter value is determined as an identification parameter, and a hull parameter is adjusted to a corresponding identification parameter therein.

  The invention according to claim 9 is characterized in that the parameter adjustment unit according to claim 8 obtains a minimum solution of the evaluation function having the identification parameter as a multivariable, and uses the identification parameter value that becomes the minimum solution as the identification parameter. And

  According to a tenth aspect of the present invention, the parameter adjusting unit according to the eighth or ninth aspect is an identification parameter in which the evaluation function is minimized in the stable ship region and the unstable ship region according to the range of the hull parameter in the hull model. And a stable ship region identification search unit and an unstable ship region identification search unit.

  The invention described in claim 11 is characterized in that the parameter adjusting unit described in any one of claims 8 to 10 obtains an identification parameter for minimizing an evaluation function by an SQP algorithm.

The invention described in claim 12 is an automatic steering apparatus for a ship that outputs a command rudder angle using a hull parameter based on a set course and heading.
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a plurality of hull parameters from a comparison result between the model output data from the identification model and the output data;
With
The identification model includes a hull model;
The parameter adjustment unit includes:
A first discriminating unit that determines an identification parameter value that minimizes an evaluation function that is a scalar value that is a function of a difference between model output data and output data;
Model output data for the input data of the hull model using the identification parameter value corresponding to the hull parameter among the identification parameter values determined by the first discriminating unit is calculated. Similarly, the nominal value which is the current hull parameter value The model output data is calculated for the input data of the hull model using, and the evaluation function obtained from the model output data using the identification parameter value and the evaluation function obtained from the model output data using the nominal value are obtained respectively. A second discriminating unit that determines which evaluation function is smaller or not larger and adjusts the hull parameter to the identification parameter value or the nominal value that is used when the evaluation function is smaller or not larger;
It is characterized by providing.

  The invention according to claim 13 is the one according to any one of claims 1 to 12, wherein the input data and the output data are data at least at the time before settling time, during the changeover time, and at the settling time after changeover. It is included.

According to a fourteenth aspect of the present invention, when the post-change stabilization time according to the thirteenth aspect is a partial differentiation of an evaluation function that is a scalar value that is a function of a difference between the model output data and the output data, with each identification parameter. At least one partial differential coefficient is set to a time range based on the time including the peak value after the change of the needle or the time including the peak value.

According to the first aspect of the present invention, the hull model is not a primary model but a model in which the time constant T _3s is added to the numerator, so that it is possible to prevent the occurrence of overshoot at the time of changing the course.

According to the second aspect of the present invention, the steering angle offset δ ₀ before the course change or at the time of holding the needle is incorporated in the identification model as the steering angle offset which is a disturbance model, and one of the parameters to be identified is the steering angle offset δ _0. Therefore, identification can be performed more accurately.

According to the third aspect of the present invention, by incorporating a term proportional to the heading as a rudder angle offset which is a disturbance model in the identification model, and setting this rudder angle offset coefficient c _δ as a parameter to be identified, Since it is possible to capture the heading data at the same time, the identification can be performed at the time of manual navigation as in the case of automatic navigation.

  According to the fourth aspect of the present invention, the initial value of the hull movement is incorporated into the identification model, and the initial value of the hull movement is set as a parameter to be identified, so that even when the needle is changed during the hull movement, the identification is performed. Can be performed more accurately. According to the fifth aspect of the present invention, identification can be performed even when the hull has a turning angular velocity at the time of turning.

  According to the inventions of claims 6 and 7, by setting the command rudder angle as the input data and the heading as the output data, even if the number of parameters to be identified increases, the identification is Can be simplified. Further, since the present invention can be applied to manual boat maneuvering, the identification process can be performed with the same configuration in any steering mode of manual boat maneuvering and automatic boat maneuvering.

  According to the invention described in claims 8 and 9, the identification parameter is determined by determining the identification parameter value that minimizes the evaluation function that is a scalar value that is a function of the difference between the model output data and the output data. Even if there are many, identification parameters can be obtained by a general-purpose algorithm.

  According to the invention described in claim 10, since the hull parameter exists only in the stable ship region or the unstable ship region according to the range, the identification parameter is set in each of the predetermined stable ship region or the unstable ship region. By searching, it becomes possible to identify hull parameters that match the actual characteristics of the hull.

  According to the invention described in claim 11, since the parameter search area can be limited by using the SQP algorithm, the hull parameter in the desired area can be identified.

  According to the twelfth aspect of the invention, the second discriminating unit discriminates which one of the identification parameter value obtained by a certain identification and the nominal value which is the current hull parameter value is more suitable. . That is, the second discriminating unit calculates model output data for the input data of the hull model using the respective values, creates an evaluation function from the respective model output data, and more of these two evaluation functions. Since the identification parameter value or nominal value that makes the evaluation function small is adopted as the hull parameter, if good identification cannot be performed, the identification parameter value is not adopted and the hull parameter is changed. A good value can always be maintained.

  According to the thirteenth aspect of the present invention, the data representing the state including the disturbance or the hull motion before the change can be acquired by acquiring the data at the settling time before the change into the identification calculation unit, so that more accurate identification can be performed. Can be performed.

  According to the fourteenth aspect of the present invention, in setting the stabilization time after the change of needle, the time indicating the peak value of the partial differential coefficient of the evaluation function is included or set based on the time, thereby achieving high resolution. Thus, identification can be performed from the evaluation function.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing the entire system including the marine vessel automatic steering apparatus of the present invention. In the figure, 12 is an automatic steering device, 14 is a steering machine, and 16 is a hull. A combination of the steering machine 14 and the hull 16 is a hull plant 18 to be controlled. The automatic steering device 12 further includes a trajectory calculation unit 22, a subtractor 24, a feedforward controller 26, a feedback controller 28, an adder 30, and an identification calculation unit 32. The feedback controller 28 may include an estimator for obtaining an estimated azimuth and an estimated angular velocity from the reference course ψ _R , the bow azimuth ψ of the hull 16 and the output of the feedback controller 28. Description of the parts already described in the background art is omitted.

  FIG. 2 is a block diagram illustrating the configuration of the identification calculation unit 32. Since the input / output data to be controlled is supplied as time-series data from the actual process, the identification calculation unit 32 includes an input data storage unit 40 and an output data storage unit 42 that accumulate these input data and output data. The input data storage unit 40 and the output data storage unit 42 can be ring buffer type memories. Further, the identification calculation unit 32 includes a data extraction unit 43, an identification model 44, a subtracter 46 and a parameter adjustment unit 48. First, the principle of the identification calculation will be described below.

1. Identification Model The identification model 44 is composed of a hull model, a disturbance model, and an initial value of the hull motion, and receives a command rudder angle δ _c as input data and outputs a model heading ψ _m as model output data. Hereinafter, the hull model, the disturbance model, and the hull motion will be described.

1.1 Hull Model In this embodiment, the hull model is a combination of a steering machine and a hull, and the time constant of the steering machine (which is sufficiently smaller than the time constant of the hull) and the nonlinearity of the on / off control. Such as the rudder speed and the allowable rudder angle, and the deterministic factors such as the rudder speed are allowed to remain. The following formula is adopted as the hull model (see FIG. 3).

Here, P is the transfer function of the hull model, ψ (s) is the heading, K _s , T _s , and T _3s are the hull parameters to be identified, respectively, turning force gain [1 / s / deg], two Each time constant [s] is shown, and T _s > T _{3 s} . (・) _S means hull value.

The number of parameters increases by adopting a transfer function in which the time constant T _3S is added to the numerator shown in Equation (2) compared to the transfer function K / (T s +1) of the conventional primary model in the hull model. However, it is possible to prevent overshoot when changing the course.

  Optionally, in addition to the above hull model, the following transfer function may be employed.

しかしながら、Ｔ_s》Ｔ_2sとすることができるので、（２）式とすることでも十分である。

However, since T _s >> T _{2 s} , the expression (2) is sufficient.

1.2 Disturbance model Disturbance is divided into a DC component and an AC component. The DC component disturbance is treated as a disturbance model, and the AC component disturbance is unknown as it is. The disturbance model is the relative velocity between the hull and the wind.

によって発生する船体の方位軸まわりのモーメントを舵角オフセットに換算した関数δ_offset＝ｆ（ベクトルＶ_R）で定める。相対速度ベクトルの絶対値の時間変化が微小とすれば、相対速度ベクトルは方位の関数ベクトルＶ_R＝ｇ（ψ）として扱える。このことから舵角オフセットを、

_Is determined by a function δ _offset = f (vector V _R ) obtained by converting the moment around the azimuth axis of the hull into the rudder angle offset. If the time change of the absolute value of the relative velocity vector is very small, the relative velocity vector can be handled as an azimuth function vector V _R = g (ψ). From this, rudder angle offset,

と近似する。ここで、δ_offsetは外乱モデルの舵角成分を、

は変針前または保針時の舵角オフセットを、ｃ_δは変針後の舵角オフセット係数を示す。（３）式の関係を図４に示す。ψは方位変化なので変針前は零であるので、（３）式の第１項のδ₀は、変針前の舵角オフセットとして設定する。（３）式の第２項のｃ_δψは変針後の方位変化に関係する舵角オフセット変化に対応する項となる。この第２項をψに比例する項とすることによって、手動操船及び自動操船のいずれの場合においても、同様のモデルを用いることができる、という利点を持つ。

And approximate. Where δ _offset is the steering angle component of the disturbance model,

Indicates the steering angle offset before or at the time of changing the needle, and c _δ indicates the steering angle offset coefficient after the change. The relationship of equation (3) is shown in FIG. Since ψ is an azimuth change and is zero before the change, δ _{0 in} the first term of equation (3) is set as a steering angle offset before the change. The c _δ ψ in the second term of the equation (3) is a term corresponding to the change in the steering angle offset related to the azimuth change after the course change. By making the second term a term proportional to ψ, there is an advantage that the same model can be used in both cases of manual boat maneuvering and automatic boat maneuvering.

1.3 Hull motion The initial value of the hull motion includes a bearing that can be directly acquired from equation (2) and a turning angular velocity that cannot be acquired. The initial value response of angular velocity is

になり、方位変化は、

Azimuth change,

になり、方位定常値は（１−Ｔ_3s／Ｔ_s）ｒ₀Ｔ_sである。仮にｒ₀＝０．０１［ｄｅｇ/ｓ］、Ｔ_s＝１００［ｓ］、Ｔ_3s＝１０［ｓ］とすると、方位定常値は１度程度となり、１０度の変針の場合には方位応答の１０％となるから、角速度初期値を考慮しないと、方位変化が同定誤差の原因になる。しかしながら、角速度初期値は直接取得することはできないから、微分とローパスフィルタとを用いた擬似微分や対象モデルを用いた推定器による取得方法が考えられるが、擬似微分は外乱抑制のためのフィルタ時定数による時間遅れが問題となり、推定器は船体値とノミナル値とのパラメータ誤差による推定誤差が問題になる。よって、本発明では、角速度初期値を同定パラメータとして同定モデルに含ませることにより、同定誤差を防止する。

And the steady azimuth value is (1−T _3s / T _s ) r ₀ T _s . If r ₀ = 0.01 [deg / s], T _s = 100 [s], and T _3s = 10 [s], the steady azimuth value is about 1 degree, and the azimuth response in the case of a 10 degree change Therefore, if the initial value of the angular velocity is not taken into account, the change in orientation causes an identification error. However, since the initial angular velocity cannot be obtained directly, pseudo-differentiation using differentiation and a low-pass filter or an estimation method using the target model can be considered, but pseudo-differentiation is used when filtering for disturbance suppression. A time delay due to a constant becomes a problem, and the estimator has a problem of an estimation error due to a parameter error between a hull value and a nominal value. Therefore, in the present invention, the identification error is prevented by including the initial value of the angular velocity as the identification parameter in the identification model.

  Optionally, when the equation (2 ′) is adopted as the hull model, the initial value of the angular acceleration can be included in the identification model as an identification parameter, and the initial value of the hull motion can be incorporated more accurately. It becomes like this. However, practically, only the initial angular velocity is sufficient.

1.4 Identification Model The identification model shown in Fig. 5 is constructed from the above hull model, rudder angle offset and angular velocity initial value. The steering angle offset is added to the command steering angle. The reason why δ ₀ / s is used is to input a constant value.
The transfer function of the identification model is

になる。ここで、添字（・）_mは、モデル値を意味する。よって、同定モデルは３次系となり、同定パラメータはｘ_1m、ｘ_2m、ｘ_3m、δ_om、ｃ_δm、ｒ_0mの６個となる。

become. Here, the subscript (•) _m means a model value. Therefore, the identification model is a tertiary system, and the identification parameters are six of x _1m , x _2m , x _3m , δ _om , c _δm , and r _0m .

2. Input Data and Output Data In the present invention, the identification calculation is performed from the respective course change responses in both manual and automatic boat maneuvers.

2.1 Manual Maneuvering In manual maneuvering, as shown in FIG. 6, the command steering angle δ _c by the operator is used as input data for the identification calculation unit 32, and the heading ψ is used as output data for the identification calculation unit 32.
Considering only the hull model for simplicity, the identification error γ _h is the difference between the heading of the controlled object and the model heading using Equations (1) and (2).

になる。

become.

When the parameter conditions for P−P _m = 0, that is, γ _h = 0 are obtained from the above equation, x _1m = x ₁ , x _2m = x ₂ , x _3m = x ₃ , and T _3m = T ₃ are obtained.

2.2 Automatic Maneuvering In automatic maneuvering, as a method of collecting input data and output data supplied to the identification calculation unit 32, as in the identification calculation unit in Patent Document 1 (see FIG. 13), the reference course ψ _R is used as input data. , an indirect method for identifying in a closed loop to output data deviation e, as input data the command steering angle [delta] _c, is considered a direct method to identify an open loop to output data heading [psi. In the indirect method, it becomes the order of the transfer function from ψ _R to e + the order of the identification model. In addition, considering the initial value of the estimator included in the feedback controller, the order becomes higher and the amount of calculation increases. However, while the processing is complicated, in the direct method, the order of the identification system is the order of the identification model, and the configuration is the same as in the case of manual boat maneuvering, so the configuration can be shared and simplified. There is an advantage. Therefore, in the present embodiment, the direct method is used, the command steering angle δ _c is used as input data, and the heading ψ is used as output data.

3. Evaluation Function and Identification Range 3.1 Evaluation Function As shown in FIG. 2, the parameter adjustment unit 48 uses the command steering angle δ _c as input data and the heading azimuth ψ as output data, as shown in FIG. Thus, the identification error γ by the subtractor 46 that is the difference between the model output data of the identification model 44 and the output data of the actual process is sequentially input. The parameter adjustment unit 48 obtains an evaluation function J obtained by converting the identification error γ into a scalar quantity, and adjusts a parameter that minimizes the evaluation function J. The evaluation function J is the sum of squares of the identification error γ,

と定義することができる。ここでｎは同定の時間範囲内にある同定データ数を表す。勿論、二乗和とする他に、同定誤差の絶対値の和とすることもでき、または適宜重み付け係数をかけることもでき、任意の評価関数を採用することができる。

Can be defined as Here, n represents the number of identification data in the identification time range. Of course, in addition to the sum of squares, the sum of absolute values of identification errors can be used, or a weighting coefficient can be appropriately applied, and an arbitrary evaluation function can be adopted.

  Since the output of the model depends on the parameters, the evaluation function J is a nonlinear function. Therefore, the parameter adjustment unit 48 obtains parameters of the model that minimizes the evaluation function J that is a multivariable function. Such calculation can be performed using any known means, for example, an SQP (sequential quadratic programming algorithm) algorithm, finds a minimal solution of the evaluation function, and identifies parameters that become the minimal solution The value is used as an identification parameter.

  When SQP is used, the parameter search range can be limited, which is convenient for area search described later.

3.2 Time range for identification during manual boat maneuvering As shown in FIG. 7, the time range for data extraction used for one identification operation consists of a settling time before changing the needle, a settling time before changing the needle, and a settling time after changing the needle.

The following conditions can be set as conditions for starting the identification.
(1) The ship speed is within the range between the set upper limit value and the set lower limit value. (2) The direction change is within the range between the set maximum value and the set minimum value. (3) The rudder angle has its amplitude before the course is changed. Does not exceed the set amplitude maximum value (for example, 3 degrees), and the steering angle at the time of changing the needle exceeds the set amplitude minimum value (for example, 4 degrees).
(4) The settling time before and after the change of needle satisfies each set value (for example, 60 seconds before the change and 180 seconds after the change)
The pre-change-time settling time is set for capturing δ _0m and r _0m, and can be set to an appropriate time necessary to properly identify them.

  On the other hand, since the settling time after changing the needle affects the hull parameter error, it is necessary to set the settling time so that the number of identification data is constant and the hull parameter error is small when manually maneuvering. Hereinafter, this settling time will be described.

となる。ここで、ｘ_im（ｉ＝１〜３）は簡単化のために船体モデルの船体パラメータのみを考える。同定モデル４４が制御対象１８と一致するものとして、上式の∂ψ_m／∂ｘ_imを制御対象の∂ψ／∂x_iと置き換えて考える。そのため、図８に示すようなδ_ｃの時系列データを入力データとする手動操船における変針の応答を考える。図８において、δ_ｗは操舵量［ｄｅｇ］を、ｔ_wは入力時間［ｓ］を示す。δ_cに対するψの時間応答解と偏微係数とは、ｔ＜ｔ_wにおいて、 Since the identification calculation is to obtain a stationary point at which the partial coefficient for the identification parameter of the equation (4) is zero,

It becomes. Here, _xim (i = 1 to 3) considers only the hull parameters of the hull model for simplification. As an identification model 44 matches the control target 18, consider replacing ∂ψ _m / ∂x _im the above equation ∂ψ / ∂x _i of the controlled object. Therefore, consider the response of veering in the manual maneuvering of the input data time series data, such [delta] _c as shown in FIG. In FIG. 8, [delta] _w is the steering amount [deg], t _w denotes an input time [s]. The time response solution and the partial coefficient of ψ with respect to δ _c are t <t _w

になる。ここで、ｃ₃＝１−Ｔ_3s／Ｔ_sである。同様に、ｔ≧ｔ_wにおいて、

become. Here, c ₃ = 1−T _3s / T _s . Similarly, at t ≧ t _w

become. In order to investigate the settling time, when the steady-state value is obtained for each partial coefficient at t ≧ t _w , ψ (t → ∞) = δ _w K _s t _w , ∂ψ / ∂K _s (t → ∞ _{) = δ w t w, ∂ψ} / ∂T s (t → ∞) = 0, become _{∂ψ / ∂T 3s (t → ∞} ) = 0. The peak value of ∂ψ / ∂T _s is given by a time t _p whose time differential function is zero. That is,

become. Here, e ^ε ≈1 + ε + (1/2) ε ² is used.

  The range of the settling time is considered to include the peak value of the deviating coefficient, so that the resolution can be obtained and the accuracy at the stopping point can be improved. Therefore, the value obtained by dividing each partial coefficient by the respective steady value or peak value, that is, the sum of the normalized values.

Ask for. _{Here, c K = δ w t w} , c T = ∂ψ / ∂T s | t = tp, c T3 = ∂ψ / ∂T 3s | t = tw, is.

FIG. 9 shows the normalized time response of the partial coefficient in the case of the numerical example with K _s = 0.05, T _s = 40, and T _3s = 4. NS by the figure, the maximum value near the peak of the ∂ψ / ∂T _s, then gradually approaches 1 attenuated. The settling time T _s or more containing the peak of NS, for example, 2T _s ~3T _s is considered good.

  The result of the identification calculation for the settling time as the identification range is shown in FIG. FIG. 10 is a graph showing the relationship between the hull parameter error (upper part of FIG. 10) and the control gain error (lower part of FIG. 10) as the identification range. Since the number of identification data (100 points) is constant, the data interval increases as the settling time increases.

Here, the differential gain K _Dn and the natural frequency ω _n of the secondary standard system are used as the control gain, which is an index that summarizes the hull parameters, and K _Dn and ω _n are defined by the following equations. .

In the above equation, proportional gain K _p = 1 and ζ _n = 0.9 are used. In FIG. 10, K _Dm and ω _m represent identification values, and K _Ds and ω _s represent hull values. Figure respect to parameter errors from the top of 10, parameter errors when settling time is 1.5T _s ~3T _s is reduced, when between the control gain error settling the lower part of FIG. 10 is a front and rear 3T _s It turns out that it becomes small.

From the above, it can be seen that it is better to select about 3T _s as the settling time of the identification range after changing the needle. Actually, in the case of manual boat maneuvering, the time range during the course change is often indeterminate, so the sum of the predetermined time before the start of the course change and the predetermined time after the start of the course change (set above 3T _s as a guide) Is the identification time range.

3.3 Identification time range during automatic maneuvering For automatic maneuvering, the conditions for starting identification are set in the same way as during manual maneuvering. Further, the identification time range includes a settling time before changing the needle, a settling time during changing and after the changing of the needle. It can be set in the same way as manual maneuvering before the change of course. During the course change, it is time to input a command rudder angle for the course change, and the amount of course change is determined by the magnitude and time of the input.

The settling time after the course change has a closed loop characteristic, unlike the case of manual boat maneuvering, and the characteristic of the representative root of the closed loop is expressed by equations (5) and (6). The attenuation coefficient of the representative root is different from the design value ζ _n = 0.9, but about 0.3 can be secured at worst. Therefore, after the change of needle, an amplitude attenuation of about 0.3 × 0.3≈0.1 is obtained in the period of the natural frequency of the representative root. Therefore, it is considered that the response characteristic can be grasped if the settling time is secured about one time as long as the natural period of the steering system which is the representative root.

The identification calculation unit 32 is configured according to the above principle. First, the command steering angle δ _c as input data and the heading azimuth ψ as output data are sequentially input in time series, and the input data storage unit 40 and the output data storage unit 42. Stored in

In addition, a steering mode signal indicating whether the vessel is operated manually or automatically is input to the data extraction unit 43. When the data extraction unit 43 is determined to satisfy the manual maneuvering and is identified starting condition is set between the veering previous predetermined settling and 3T _s approximately predetermined settling period of the data after veering Are extracted from the input data storage unit 40 and the output data storage unit 42, respectively.

  In addition, when it is determined that the ship is an automatic ship maneuver and satisfies the identification start condition, the data during the set pre-change-time settling time, during the change-over time, and the settling time after the change-of-steering time about the steering cycle are stored as input data, respectively. Extracted from the unit 40 and the output data storage unit 42.

The extracted input data is calculated in the identification model 44 and the model heading ψ _m is output, and the subtractor 46 obtains an identification error γ that is a difference from the actual heading ψ, and the identification error γ Are evaluated by the parameter adjusting unit 48 and the parameters are adjusted. The parameter adjustment unit 48 changes the identification parameter used in the identification model 44 to obtain the evaluation function represented by the equation (4) from the identification error γ, and determines the identification parameter that minimizes the evaluation function.

  A detailed block diagram of the parameter adjustment unit 48 is shown in FIG. The parameter adjustment unit 48 includes a stable ship region identification search unit 50, an unstable ship region identification search unit 52, a first determination unit 54, a second determination unit 56, and a hull nominal value storage unit 58.

A stable ship is a ship satisfying x ₁ > 0, x ₂ > 0 and x ₃ > 0, and an unstable ship is a ship satisfying x ₁ <0, x ₂ > 0 and x ₃ <0. Only ships that satisfy either condition can exist. The stable ship region identification search unit 50 and the unstable ship region identification search unit 52 should satisfy each of them so that the identification parameter that minimizes the evaluation function always belongs to either the stable ship or the unstable ship range. In order to search for the identification parameter within the range of conditions, the range of the identification parameter of the identification model 44 is changed.

The minimum evaluation functions J _s and J _u determined by the stable ship region identification search unit 50 and the unstable ship region identification search unit 52 are which evaluation functions are smaller (or larger) in the first discrimination unit 54. Is determined).

Then, an identification parameter for deriving a smaller evaluation function is determined.
Further, in the second determination unit 56, the identification parameter value corresponding to the hull parameter among the identification parameters determined by the first determination unit 54 and the current nominal hull parameter are stored in the hull nominal value storage unit 58. Compare with the nominal value. This comparison is made using a hull model. If the identification parameter values of the hull parameters determined by the first discriminating unit 54 are x _1m , x _2m , x _3m and the nominal values are x _1n , x _2n , x _3n , the hull model adopting each value is used. Thus, the model heading with respect to the command rudder angle, which is input data, is obtained, and the evaluation functions J _m and J _n are obtained. That is,

Then, it is determined which of the evaluation functions J _m and J _n is small (or not large).

When J _m is smaller, the identification parameter determined by the first determination unit 54 is updated to a nominal value, stored in the hull nominal value storage unit 58 and output. On the other hand, when J _n is smaller, the current nominal value is output as it is without updating. If they are the same, either value is adopted.

  Thus, when the identification parameter value obtained by identification is considered to be worse than the current nominal value, the identification parameter value is not adopted, and the hull parameter can always be maintained at a good value. .

4). Verification result The verification effect of the above identification model is verified by simulation. The control target uses a hydrodynamic model that is considered to be close to the characteristics of an actual ship (however, the value corresponding to the hull parameter is unknown). The search range of the identification parameter is divided into a stable ship and an unstable ship in the hull parameters (x ₁ , x ₂ , x ₃ ), and includes disturbances and initial momentum values (δ ₀ , c _δ , r ₀ ). The range.

In each of the stable ship region identification search unit 50 and the unstable ship region identification search unit 52, the hull parameter having the smaller evaluation function in the corresponding search range is obtained by the first discrimination unit 54, and this is used as the hull nominal value. . Note that the determination by the second determination unit 56 is not performed here.
The settling time was set to 3T _s ≈ 180 [s]. SQP was used for the identification calculation.

  The simulation result is shown in FIG. The control target was set to be equivalent to an unstable ship, the initial value of the hull nominal value was set to be equivalent to a stable ship, and a ± 10 degree change was made.

In the first change of needle, an overshoot occurs due to a parameter error. However, this change data was used to identify and update the nominal value (first identification). It did not occur and the needle change characteristics were good. When the fluctuation of the second identification using the second needle change data is viewed in terms of the control gain, both K _D and ω _n are within about 10%. Therefore, it was found that good identification can be performed with one change of needle.

It is a block diagram showing the whole system containing the automatic steering device for ships of this invention. It is a block diagram showing the structure of the identification calculating part of FIG. It is a block diagram showing the structure of a control object. It is a graph showing the relationship before and after a course change of a steering angle offset of a disturbance model, and a heading. It is a block diagram showing the structure of an identification model. It is a block diagram showing the structure of the identification calculating part in manual boat maneuvering. It is a figure showing the relationship between the time range of the identification in manual boat maneuvering, a command rudder angle, a heading, and speed. It is a graph showing the example of a response of the manual needle change for the analysis of identification time. It is the graph showing the time change of what normalized the partial coefficient with respect to the identification parameter of an evaluation function, and the sum of the normalized value. It is a graph showing the relationship between the parameter error and the control gain error with the settling time. It is a detailed block diagram of a parameter adjustment unit. It is a figure showing the verification result by simulation. It is a block diagram of the conventional identification calculating part.

Explanation of symbols

12 automatic steering device 32 identification calculation unit 40 input data storage unit 42 output data storage unit 44 identification model 46 subtractor 48 parameter adjustment unit 50 stable ship region identification search unit 52 unstable ship region identification search unit 54 first determination unit 56 2 discriminator

Claims (14)

In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model, and the transfer function of the hull model is:

A marine vessel automatic steering device characterized by the following: In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model and a disturbance model, and the disturbance model incorporates a steering angle offset δ ₀ before the course change or at the time of holding as the steering angle offset, and the identification calculation unit includes the hull parameter A marine vessel automatic steering apparatus characterized in that a steering angle offset δ ₀ before changing the course or at the time of holding is used as a parameter to be identified. In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model includes a hull model and a disturbance model, and the disturbance model incorporates c _δ ψ (ψ: heading) as a rudder angle offset, and the identification calculation unit includes a rudder angle together with the hull parameters. An automatic steering apparatus for a ship, wherein the offset coefficient c _δ is a parameter to be identified. In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
The identification model incorporates a hull model and an initial value of the hull motion at the time of changing the needle, and the identification calculation unit sets the initial value of the hull motion together with the hull parameter as a parameter to be identified. Automatic steering device for ships.   5. The ship automatic steering apparatus according to claim 4, wherein the initial value of the hull motion is an initial value of a turning angular velocity of the hull.   The automatic steering apparatus for a ship according to any one of claims 1 to 5, wherein a command steering angle is used as the input data, and a heading is used as the output data. In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a hull parameter from a comparison result between the model output data from the identification model and the output data;
And the input data is a command steering angle, and the output data is a heading.   The parameter adjustment unit determines an identification parameter value that minimizes an evaluation function, which is a scalar value that is a function of a difference between model output data and output data, and adjusts a hull parameter to the corresponding identification parameter therein. The automatic steering device for a ship according to any one of claims 1 to 7, characterized in that:   The marine vessel automatic steering apparatus according to claim 8, wherein the parameter adjustment unit obtains a minimum solution of an evaluation function having multiple identification parameters, and uses an identification parameter value that becomes the minimum solution as an identification parameter.   The parameter adjustment unit searches for an identification parameter that minimizes an evaluation function in a stable ship region and an unstable ship region according to a range of a hull parameter in a hull model, and a stable ship region identification search unit and an unstable ship region identification. The marine vessel automatic steering apparatus according to claim 8 or 9, further comprising a search unit.   The marine vessel automatic steering apparatus according to any one of claims 8 to 10, wherein the parameter adjusting unit obtains an identification parameter that minimizes an evaluation function by an SQP algorithm. In the ship automatic steering device that outputs the command rudder angle using the hull parameters based on the set course and heading,
An identification calculation unit for identifying a hull parameter, the identification calculation unit,
A storage unit that receives input data and output data and accumulates the respective data;
An identification model that outputs model output data from the accumulated input data;
A parameter adjustment unit for adjusting a plurality of hull parameters from a comparison result between the model output data from the identification model and the output data;
With
The identification model includes a hull model;
The parameter adjustment unit includes:
A first discriminating unit that determines an identification parameter value that minimizes an evaluation function that is a scalar value that is a function of a difference between model output data and output data;
Model output data for the input data of the hull model using the identification parameter value corresponding to the hull parameter among the identification parameter values determined by the first discriminating unit is calculated. Similarly, the nominal value which is the current hull parameter value The model output data is calculated for the input data of the hull model using, and the evaluation function obtained from the model output data using the identification parameter value and the evaluation function obtained from the model output data using the nominal value are obtained respectively. A second discriminating unit that determines which evaluation function is smaller or not larger and adjusts the hull parameter to the identification parameter value or the nominal value that is used when the evaluation function is smaller or not larger;
A marine vessel automatic steering apparatus comprising:   The automatic steering apparatus for a marine vessel according to any one of claims 1 to 12, wherein the input data and the output data include at least data for a settling time before the course change, during the course change, and a settling time after the course change. . The settling time after changing the needle is a peak value after at least one partial differential coefficient of the partial differential coefficient when the evaluation function, which is a scalar value as a function of the difference between the model output data and the output data, is partially differentiated with each identification parameter. 14. The marine vessel automatic steering apparatus according to claim 13, wherein a time range including a time indicating a value or a time range based on a time including a peak value is set.

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