Research On Intelligent Control Algorithm Of The Ship Track

Today intelligent control of the ship track is an important topic in the field of ship motioncontrol. Also it’s an important part of the navigation of intelligentization and its control moduleon ship intelligent manipulation of the simulation platform. In this paper, the design of the trackintelligent control simulation system uses the way of indirectly control. The design of the trackintelligent control consists of two parts, one is track-guided algorithm, and the other is trackautomatic control algorithm. In this paper, the design of the track automatic control algorithmalso consists of two parts, one is course guidance algorithm, and the other is course automaticcontrol algorithm. The main research works are as follows:(1)A new evaluation method which is judge the performance of ship course controlalgorithm is proposed. In order to choose the better performance of the course control algorithmwhich is the course control algorithm of indirectly track automatic control, this paper presents aweighted average method which is based on fuzzy membership function to evaluate theperformance of course tracking. Method for determining the weights of the performanceindicators derives from a questionnaire to some experienced ship maneuvering personnel.Therefore, the evaluation method has more scientific and practical than a general qualitativeevaluation.(2)Research and analysis four kinds of course automatic control algorithm based on Matlabto realize simulation. On the basis of research and analysis a variety of principles of courseautomatic control algorithm, we use Matlab to achieve simulation of course autopilot whichcontains ordinary PID, DMI’s PID, fuzzy self-tuning PID controller, expert fuzzy controller anda three degrees of freedom of ship model. Based on the method proposed above which is used toevaluate the performance of ship course control algorithm, analysis and evaluate the coursetracking performance of four kinds of course autopilots. It uses fuzzy self-tuning PID courseautopilot which has the best performance as the course control algorithm which is containedtrack indirect control simulation system.(3)By researching and designing, the paper achieves track intelligent control algorithm. Itdesigns course guidance algorithm which with fuzzy self-tuning PID course autopilot which hasthe better performance together constitute indirect track autopilot. Then it designs track guidancealgorithm which with track autopilot together constitute track intelligent control algorithm.(4)The tests of algorithm simulation are based on desktop systems of ship intelligent manipulation of the simulation platform which is advanced and can approximately simulate themarine environment. Using the Visual C++6.0development tools, the design of the trackintelligent control algorithm is programmed to achieve, and it is integrated into the shipintelligent manipulation of the simulation platform which researches and develops by ouruniversity and has DMI’s ship models which have six degrees of freedom. Through a largenumber of platform experiments of intelligent navigation of the target ship and maintaining andtracking of the ship’s track, the performance of the design of track intelligent control algorithm isverified.