The Study Of Ship Maneuvering Simulation And Tracking Control In The Bridge Waterway

The unmanned ship is a major trend in the future development of the shipping industry.At present,the automatic navigation of ships in local marine environment has been realized.However,in the typical sections of inland rivers,ship navigation with only personnel experience will not fulfill the requirements of the future development of shipping industry.Therefore,in order to achieve the goal of unmanned inland ships,the independent navigation of the ship should be carried out in the typical river section including the bridge area.In recent years,the number of bridge projects in the Yangtze River has been steadily increasing.While bridge construction improves land traffic,it also increases the risk of a ship bridge collision.The statistics show that 70% of the bridge collision accidents are caused by human error.However,the current rules and regulations require the ship to be navigated by artificial rudder through the bridge area.Therefore,the contradiction between the high occupying ratio of human error and the steering of the forced hand of the ship in the bridge area is one of the key problems of ship bridge collision.The realization of the automatic control of the ship bridge is an effective solution to this key problem.Based on the Natural Science Foundation of Hubei Province—“safety distance between ridge groups in the continuous bridge area of the Yangtze River main line in Wuhan”,this paper studies the ship maneuvering motion simulation and track control in the bridge section.First of all,taking the Wuhan section of the Yangtze River as the research object of the bridge section of the bridge,the distribution,spacing,navigation hole and axis of the bridge are analyzed and summarized.The track is restored based on the ship's AIS information.Combined with the navigation rule of ships passing through the bridge,this paper analyzes the track belt characteristics of the upstream and downstream bridges,and establishes a track segment scale model suitable for ships to navigate safely across the bridge.Secondly,based on the idea of MMG separation model,this paper selected typical inland river ships as the object of simulation experiment.Combined with the actual situation of ships passing through the bridge,we took the wind and flow interference and shallow water effects into account,and simulated the ship cycle movement under hydrostatic and external disturbances.In view of the traditional PID controller parameter tuning need artificial defects,the differential evolution algorithm is applied to ship course control,at the same time,to further improve the performance of the algorithm,to adjust the zoom factor and cross factor,designed an improved differential evolution PID course controller,achieved better control effect in water environment and disturbance in.Finally,based on the course control,the improved differential evolution algorithm is applied to track control directly,and the direct control method is used to design the track controller.According to the track segment scale model,the tracking control of ship's upstream and downstream bridges is simulated.This research can be used as collision warning system,so as to promote the development of ship navigation safety guarantee technology in bridge area.At the same time,it also lays a good foundation for further research on the autonomous navigation of ships in bridge area.