Research On Ship Heading Control Method Under High Sea Conditions

As unmanned systems bring humans into the era of artificial intelligence,unmanned ships have attracted widespread attention.Modern society needs marine resources and other marine engineering,and unmanned ships have been continuously applied to deep seas and ultra-deep seas.The marine environment encountered by ships in deep sea operations is often worse than that of offshore seas.Ships are always disturbed by wind,waves and other environments when sailing at sea.In order to enable unmanned ships to overcome the harsh environment at sea and achieve precise course control effects,this paper The heading control of unmanned ships under high sea conditions is studied,and a heading control strategy is proposed.First,the development status of domestic and foreign unmanned ships and the development history of autopilots are introduced in detail,and a mathematical model of ship plane motion is constructed according to the motion coordinate system combined with the motion characteristics of unmanned ships.Aiming at the problem of environmental interference,Gaussian white noise is used to drive a typical second-order oscillating link as the interference source,and the simulation of unmanned ship motion control is closer to the actual motion control process by introducing the interference mathematical model.Secondly,the course control problem of unmanned ships under high sea conditions is studied.Under high sea conditions,the course of the ship will sway with the interference of waves,which will cause the steering gear system to frequently steer to correct the course,which not only increases the wear of the steering gear system,but also Reduced the economy of long voyages.Therefore,this paper makes improvements on the basis of the traditional PID control algorithm,and uses the Kalman filter as an observer to input the bow angle velocity value and the course value deviation into the PID controller for calculation,and increase the ship parameters involved in the course control calculation.,and on this basis,feed-forward control is added to form a feedforward PID control algorithm fused with Kalman filter.In the research process,the control algorithm proposed in this paper and the traditional PID control algorithm are simulated,and the superiority and practicability of the control algorithm in this paper are verified by the simulation results.Finally,build an unmanned ship test platform.Design the overall hardware structure of the unmanned ship system according to the experimental requirements,and select the hardware modules,including controller module selection,information acquisition module selection,power module selection,power supply module selection,and data communication module selection.type etc.Secondly,for the software part,programs including information collection,power system,data communication,heading control and other tasks are written.After the platform is built,the control algorithm designed in this paper is applied to the unmanned ship for real ship experiments.The traditional PID control algorithm and the control algorithm proposed in this paper are compared respectively,and the course angle data collected in the experiment are plotted.The curves verify that the control algorithm proposed in this paper can be better applied in high sea conditions.