| Ship motion control has always been a hot topic of research.Ship motion control is divided into heading control and track control,and heading control is the basis of ship motion control.Since the globalization of trade,trade between countries has mainly been ship transportation.The navigation status of the ship is easily affected by the complex environment at sea.The wave has the greatest impact on the navigation of the ship,which leads to the reduction of the ship’s heading control performance.When multiple ships meet,there is a danger of collision,which threatens the navigation safety of the ship.In addition,the research on unmanned boats has been enthusiastically sought after by countries in recent years,and the biggest problem facing the development of unmanned boats is how to maintain good heading control performance under the influence of waves.Therefore,improving the ship’s heading control performance under the waves is one of the important contents of ship heading control research.At present,the PID control algorithm is widely used in the ship’s heading control.For the ship’s heading control algorithm,the ship’s heading control performance is related to the parameters of the control algorithm,the system state variables of the wave-induced disturbance,and the model of the controlled system.Therefore,the effects of the above on the ship heading control performance are studied separately.The main research is as follows:1.The control performance of the ship’s heading control system is directly related to the control parameters of the heading control algorithm.The objective function of the ship heading control system is established,and the basis of the standard particle swarm optimization algorithm(PSO)is improved.The convergence analysis of the standard particle swarm optimization algorithm and the improved particle swarm optimization algorithm is carried out.Then the algorithm is used to optimize the objective function,and a set of particles that optimize the objective function is searched in the solution space.The position of the particle is the optimal control parameter,which can make the ship’s heading control performance optimal.It can be concluded from the simulation results that the control parameters obtained by the improved particle optimization algorithm improve the ship’s heading control performance.2.Variables for ship systems are susceptible to wave disturbances.The particle filter algorithm is applied to the filtering process of the ship system variables,and the processed ship system variables are input into the heading control system.The ship’s heading control motion is divided into heading keeping motion and heading tracking motion.Under the different sea conditions,the direct flight,the yaw movement and the Z-type movement of the ship were simulated respectively.The direct flight motion test heading maintains performance,the steering motion checks the heading tracking performance,and the Z-type motion fully tests the strength of the ship’s control performance.The simulation results show that for the three kinds of motions of ships under different sea conditions,the ship’s system variables are significantly improved by the particle filter processing and input into the heading control system.3.The parameters in the ship motion model will drift due to the influence of the external environment and the changes of the ship’s own parameters.Based on the system identification theory,the parameters are obtained by the forgetting factor least squares method and the data collected by the sensor,and the parameter values of the model are updated in real time.The method was applied to the "Sea Spirit" heading motion control,and the unmanned boat direct movement and steering motion experiments were carried out in the pool.The experimental results show that the parameter values and changes in the motion model of the "Spirit of the Sea" in the experimental model are obtained by the identification method,and the "Spirit of the Sea" has good heading control performance. |
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