多船并行时，为精准控制船舶按照期望轨迹航行，研究多船并行航行轨迹精准控制算法。构建多船并行航行模型，分析多船并行航行位置与速度信息、动力控制量信息后，从首摇转矩与螺旋桨转速调节的角度，研究轨迹控制方法。将需控制轨迹的船舶当下位置与速度信息、期望位置与信息，作为基于位置与速度调节的多船并行航行轨迹控制算法的控制样本，计算当下位置与速度的误差值后，由模糊控制算法整定航行轨迹控制器3种控制参数，输出位置控制量、速度控制量，作为船舶首摇转矩、螺旋桨转速控制量，实现多船并行航行轨迹精准控制。实验结果表明：使用此算法，理想工况中多船并行航行位置与期望位置、航行速度与期望速度均一致；恶劣工况中多船并行航行轨迹的X轴位置误差、Y轴位置误差均小于0.2 m，轨迹控制结果精准。
In order to accurately control the ship sailing in accordance with the expected trajectory in the case of multi-ship parallel sailing, the precise control algorithm of multi-ship parallel sailing trajectory is studied. After analyzing the position and speed information as well as the dynamic control quantity information, the trajectory control method was studied from the angle of ship roll torque and propeller speed adjustment. The current position and speed information and expected position and information of ships that need to control the trajectory are taken as the control samples of the multi-ship parallel navigation trajectory control algorithm based on position and speed adjustment. After calculating the error values of the current position and speed, the fuzzy control algorithm adjusts three control parameters of the navigation trajectory controller, and outputs the position control quantity and speed control quantity. As the control quantity of ship yaw torque and propeller speed, the precise control of multi-ship parallel sailing trajectory is realized. The experimental results show that the multi-ship parallel sailing position is consistent with the desired position and sailing speed under ideal conditions. In bad working conditions, the X axis position error and Y axis position error of the multi-ship parallel sailing trajectory are both less than 0.2 m, indicating accurate trajectory control results.
2023,45(12): 128-131 收稿日期：2023-01-24
DOI：10.3404/j.issn.1672-7619.2023.12.024
分类号：TP273
基金项目：度广西高校中青年教师科研基础能力提升项目（2021KY1651）
作者简介：陈玲萍(1975-),女,硕士,副研究员,研究方向为人工智能数据挖掘算法应用
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