Study On Intelligent Control Of Ship Manoeuvring

In this dissertation,ship manoeuvring and intelligent course control are systemically studied.To manoeuvre ship safely and rapidly get to the destination port is usually the final aim of ship motion control. As the most basic function of ship manoeuvring control, course control indicates ship manoeuvring performance.To establish mathematical model of ship motion is the precondition and foundation of ship manoeuvring and simulation study. For complete proper study of ship manoeuvring performance, the author establishes the linear and nonlinear motion mathematical models of the 5446TEU container ship (the fifth generation containerships in the world) on the basis of ship maneuvering performance. The computing data based on simulating model almost fits the trial voyage results.The ship course control system has typical uncertainty and nonlinear characteristics due to its complicacy and the disturbance stochastic environment. The fuzzy control doesn't depend on the exact mathematical model of controlled object and has the ability to adapt to the changes of system parameters. In this dissertation, the author proposes a algorithm of ship course fuzzy control and a algorithm of fuzzified self-tuning PID parameters control. On the basic study of the fuzzy control theory,first of all, the author constructs the fuzzy variables , membership function and the fuzzy rules of the ship course fuzzy controller, and then designs a fuzzy course controller with the part of the nonlinear rudder feedback. A ship course self-tuning PID controller based fuzzified parameters is designed by considering the combination of fuzzy control and typical PID control in this dissertation. The author codes the algorithm of ship course fuzzy parameters self-tuning by programming with Matlab M-file. The author also tests the fuzzified self-tuning PID control parameters of ship course control by using another mathematical model of another ship. The result shows that the controller has good robustness when the mathematical model of controlled object is changed.Comparing with the typical PID control algorithm,the results show that the proposed intelligent controller has better performance of both dynamic and stable status with nice precision, rapid response of course changing and less overshoot.