基于模糊控制的自动泊船系统模型研究

针对自动泊船方法耗时耗力的问题, 研发了基于模糊控制的自动泊船系统模型。在现有研究成果的基础上, 依据泊船实际情况, 分析泊船运动学模型, 设计了斜行、垂行、平行3 种泊船模糊控制器, 并利用Matlab/ Simulink 分别进行仿真验证。按照船只各部件比例, 设计模型船, 通过超声波测距和图像处理等技术获取周围环境数据, 并将仿真验证的模糊控制器转换为C 代码, 进行自动泊船测试。测试结果表明, 该系统消耗能源少, 稳定性良好, 可有效完成自动泊船功能, 为进一步研发自动泊船系统提供了更多依据。

Study on Automatic Berthing Model Based on Fuzzy Control

Automatic berthing system is a kind of environment through the information collection around to find suitable berthing vessels, automatically enter the position control system. According to the automatic berthing method time-consuming problem in foreign and domestic, there is an urgent need to develop a stable system effectively realizing independent berthing. Combined with the actual of berthing motion model analysis, a parallel, oblique three berthing fuzzy controller is designed whose the simulation and verification were performed in the Matlab/ Simulink. According to the proportion of each component of ships, a model is designed to make automatic berthing test by using ultrasonic distance measurement to obtain the surrounding environment data technology and converting to C code. The test results show that the system can effectively realize independent berthing, and provide a theoretical reference value for the further research and development.