船舶自动靠离泊系统方案及其混合控制策略

船舶靠离泊操纵是船舶航行过程中最精细最困难但又是最重要的一个环节,随着船舶大型化和船员数量的越来越少,使得船舶靠离泊的操作比以往更加困难和复杂,因此船舶自动靠离泊已成为船舶运动控制中的一个亟待解决的难题;同时水面船舶又是一个结构复杂的、不完全驱动的非线性系统,采用传统的控制策略不能满足要求.基于RTK技术和以太网技术给出了船舶自动靠离泊智能系统方案,同时指出了当前船舶运动非线性控制研究发展的一个新方向:一种基于逻辑的混合控制策略在船舶自动靠离泊控制设计中的应用.所得结果对船舶自动靠离泊系统的进一步研发具有一定的实践指导和理论参考价值.

Automatic berthing system for a ship and study on a hybrid control for the system

The berthing maneuver is the most delicate and difficult but important phase in ship's navigation.The advent of huge vessels and the decrease of crewed people on board have made it more difficult and more complicated than ever.Thus the problem of automatic berthing is an open one in ship control.At the same time,the surface vessel belongs to a complicated and underactuated nonlinear system.The traditional plan to control the system couldn't meet the requirements.On the base of RTK and ethernet technique,this paper proposed a plan on ship automatic berthing system,and pointed out a new development trend in ship nonlinear control research,that is,a logic-based hybrid control and its applications to ship automatic berthing.The results are useful to the ship automatic berthing system in engineering implement.