为提高航行的安全性，通过自动化装置的应用，使船舶能够更好地适应各种复杂的航行环境和任务要求，研究基于DSP的船舶航行自动控制方法。该方法先建立船舶航行非线性数学模型，运用该模型获得船舶在海上航行的横摇、纵摇和艏摇三自由度数据，再以DSP为基础，建立船舶航行控制器，在该控制器的逻辑处理模块将船舶航行非线性数学模型输出结果分别输入到PID优化算法与CMAC神经网络模型内，通过该2个算法得到综合船舶航行自动控制最终参数，并使用DSP模块内PWM和ADC模块将控制参数输入到船舶航行驱动模块内，实现船舶航行自动控制。实验表明，该方法建立的船舶航行非线性数学模型具备较强的有效性，可实现船舶舵角的控制和航向控制，且其控制船舶航行超调量较小，灵敏性好。
In order to improve the safety of navigation and enable ships to better adapt to various complex navigation environments and task requirements through the application of automation devices, a DSP based automatic control method for ship navigation is studied. This method first establishes a nonlinear mathematical model for ship navigation, and uses this model to obtain three degrees of freedom data of lateral and longitudinal sway and bow sway of the ship during sea navigation. Then, based on DSP, a ship navigation controller is established. In the logic processing module of the controller, the output results of the nonlinear mathematical model for ship navigation are input into the PID optimization algorithm and CMAC neural network model, respectively, By using these two algorithms, the final parameters of comprehensive ship navigation automatic control are obtained, and the control parameters are input into the ship navigation drive module using PWM and ADC modules in the DSP module to achieve automatic ship navigation control. The experiment shows that the nonlinear mathematical model of ship navigation established by this method has strong effectiveness, can achieve control of ship rudder angle and heading control, and its control of ship navigation overshoot is small, with good sensitivity.
2024,46(8): 165-168 收稿日期：2023-8-15
DOI：10.3404/j.issn.1672-7649.2024.08.031
分类号：U661
基金项目：抚州市科学技术局科技重点项目（2019DC01）
作者简介：李宏俊(1977-),男,硕士,讲师,研究方向为电子信息工程、信息处理、图形图像处理及工业控制
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