Research On Path Tracking And Dynamic Positioning Of Waterjet Propulsion Ship Based On Sliding Mode Control

The waterjet propulsion technology is mainly that the ship sprays reverse water from the stern to obtain the thrust.The advantages of this technology are high mobility,low noise and good maneuverability,and it is widely used in various fields at domestic and foreign.In this paper,a certain type of waterjet propulsion ship is used as the model object,and the waterjet propulsion ship vector control model,steering device model and diesel engine model are established by means of mechanism analysis and system identification.This paper mainly uses the maneuverability equation proposed by the Maneuvering Model Group(MMG)as the research basis,and establishes the ship motion control model.In order to build this model,we will uses the regression formula of Yuanliang and experimental datas to calculate the hydrodynamic parameters.Through the mechanism analysis,the thrust of the propeller is studied.At the same time,the model of the steering device and the diesel engine are established by the ship mechanical structure analysis and system identification.All of those lays the foundation for other research of this article.Considering the complex working conditions and strong coupling of the ship,the ship’s heading control model is constructed based on the MMG.At the same time,in order to eliminate interference of the wave and the model,the sliding mode controller is used to realize the heading of the waterjet propulsion ship.Then the fuzzy parameters of the sliding mode controller are updated by fuzzy intelligent control to enhance the robustness of this system.For the problem of poor ship path tracking performance,this paper proposes a S-plane path tracking method based on yaw error,and completes the global path planning through the grille method and the ant colony algorithm.Moreover,we should modify and optimize the path according to the actual sailing scene of the ship.So,a whole process simulation system for the dual waterjet propulsion ship path tracking is realized.In order to realize the ship dynamic positioning requirements of high-precision and strong robustness,this paper designs a dual closed-loop sliding mode controller,which realizes the stability of the position loop through the stability of the ship’s speed loop.Moreover it can realize the navigation mission,such as traverse movement,skew movement and turning test.Finally,the dual waterjet propulsion ship model,the sliding mode controller and the ship navigation missions are displayed in real-time multi-functional display in the form of Matlab＿GUI simulation platform,which realizes more communication between human and computer.