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Adaptive control method of autopilot of ship

A technology of self-adaptive control and autopilot, which is applied in the directions of self-adaptive control, general control system, control/regulation system, etc., and can solve the problems of poor control effect of autopilot.

Inactive Publication Date: 2014-06-04
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008]C. The control effect of the heading hold autopilot using the control dead zone method is poor

Method used

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  • Adaptive control method of autopilot of ship
  • Adaptive control method of autopilot of ship
  • Adaptive control method of autopilot of ship

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] The structural block diagram of the ship autopilot is as follows: figure 1 As shown, the present invention is the technical core of the ship heading controller, and completes the command generation of the autopilot.

[0053] (1) Design heading model identification test

[0054] The controller of the feedback channel is time-varying or nonlinear, and the closed-loop system is identifiable. Therefore, the present invention adopts the identification experiment design method such as. The controller is updated immediately after the model is identified, at which point the system is identifiable.

[0055] (2) Switching between heading model parameters and wave model parameters identification

[0056] First, when the ship load changes greatly, start the ship identification function in relatively calm waters, identify the ship model, and turn off the identification function after the identification is completed. During sailing, the adaptive rudder can automatically indicate ...

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Abstract

The invention discloses an adaptive control method of an autopilot of a ship and relates to the technical field of automatic control of the ship. The method comprises the steps of: firstly, carrying out wave model identification; updating the upper limit and the lower limit of a controller pipeline so as to calculate controlled quantity; further judging that if the wave model is in a still water area, the model validation is not passed; then, carrying out ship model identification; updating a controller; and carrying out the next control. According to the invention, the self-setting function of the autopilot is automatically finished without personnel to participate and can automatically identify the sea state grade, so that adaptive heading control under wave interference is achieved, and the control performance of the heading of the ship is improved.

Description

technical field [0001] The invention relates to the technical field of ship automatic control, in particular to an adaptive control method for a ship autopilot. Background technique [0002] In 1922, the course autopilot was used for the first time in ship course control. The schematic diagram of the ship autopilot is as follows figure 1 shown. Due to the mature application of PID control technology in industry, PID autopilot has occupied a dominant position in the field of ship heading control for a long time. Commercial directional autopilot products are mainly distributed in Japan, Europe, Canada and other areas where the navigation industry is relatively developed, such as G-PILOT 3380 from NAVMANW in the UK, AP50 from SIMRAD, Admiral-P3 from ComNav in Canada, and series from Marol in Japan. products etc. In recent years, the domestic navigation industry has been booming, and many companies have launched autopilot products, such as Beijing Highlander HLD-SC100, Jinzho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 赵金
Owner HUAZHONG UNIV OF SCI & TECH
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