摘要
针对用于香港机场三跑道建设的铺砂船锚自动泊定位控制系统进行研究,在保证其动态定位精度为50 cm的前提下,开发出一套全新的自动锚泊定位控制系统。通过对控制模型进行分析并指出该系统存在的难点,采用模糊状态机控制方式对船舶中心点与起始点、船舶控制点与工作线的偏差距离和船舶中心线与工作线的角度偏差进行模糊化,船舶状态根据模糊化后的位置偏差和角度偏差等级综合进行划分,在不同状态采用不同的控制参数。根据铺砂船的实际应用效果,验证了该控制系统具有较高的精度和响应速度。
We deeply study the automatic mooring positioning control system for sanding vessel used in the construction of three runways of Hong Kong Airport,and develop a new automatic mooring positioning control system according to its construction method,which has 50 cm dynamic positioning accuracy.Then we analyze the control model,point out the difficulties of the system,and apply the fuzzy state machine control method to overcome difficulties.The distance deviation between the center point and the start point,the distance deviation between the control point and the working line,and the angle deviation between the center line and the working line are fuzzed by the fuzzy state machine control method.The ship state is based on the position deviation and the angle deviation comprehensive results,and different control parameters are adopted in different states.According to the actual application effect of the sanding vessel,it is confirmed that the control system has higher precision and response speed.
作者
赵辉
陈定
于涛
ZHAO Hui;CHEN Ding;YU Tao(CCCC Tianjin Dredging Co.,Ltd.,Tianjin 300457,China)
出处
《水运工程》
北大核心
2018年第A01期36-38,42,共4页
Port & Waterway Engineering
关键词
工程船舶
锚泊定位
模糊控制
状态机
engineering vessel
anchoring positioning
fuzzy control
state machine
