船舶航行控制需适应复杂多变的航行环境扰动，PLC嵌入式技术具备强大的逻辑运算与适应能力，能够达到各种复杂场景的控制要求，为此，设计基于PLC嵌入式技术的船舶航行自动控制系统。通过系统的设备层实时采集船舶航行的位置、舵角、航向等数据，传入嵌入式控制层，该层调用其嵌入式微处理器存储与处理此类数据后，调用其所嵌入的BP神经网络PID控制器，以预设的船舶航行舵角为控制目标，对船舶的舵机实施控制，降低舵角偏差，达到船舶航行航向控制目的。结果显示，该系统可针对不同风力与风速航行环境下的船舶实现精准航行控制，控制后船舶在2种航行环境下的航行舵角几乎均能够与预设舵角相吻合，且均可按照预设航向航行，控制效果显著。
Ship navigation control needs to adapt to the complex and changeable navigation environment disturbance, and PLC embedded technology has strong logical operation and adaptability, which can meet the control requirements of various complex scenes. Therefore, an automatic ship navigation control system based on PLC embedded technology is designed. Real-time data such as ship's sailing position, rudder angle and course are collected through the equipment layer of the system and transmitted to the embedded control layer. After this layer calls its embedded microprocessor to store and process such data, it calls its embedded BP neural network PID controller to control the ship's steering gear with the preset rudder angle as the control target, so as to reduce the rudder angle deviation and achieve the purpose of ship's sailing course control. The results show that the system can achieve precise navigation control for ships sailing in different wind and wind speeds. After control, the steering angles of ships in both navigation environments can almost match the preset steering angles, and they can all sail according to the preset course, and the control effect is remarkable.
2025,47(6): 158-161 收稿日期：2024-9-13
DOI：10.3404/j.issn.1672-7649.2025.06.027
分类号：U664
作者简介：崔源（1984 – ），男，副教授，研究方向为控制科学与工程
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