Study On Automatic Docking Technology Of Pontoon On Calm Water

The existing temporary pontoon bridge needs to be erected manually and connected manually,which requires high operation,and is difficult to connect with the pontoon bridge,which makes the erection of the pontoon bridge time-consuming and troublesome.Whether it is military operations or emergency rescue,time is a very important factor,and manual erection limits the speed of pontoon erection.Therefore,it is of great significance to develop a fully automatic pontoon docking control system that can be erected quickly and is easy to operate.This paper studies the automatic docking technology of pontoons on calm waters,and studies the path planning and path tracking control of multiple pontoon units on calm waters.The main research contents are as follows:Firstly,referring to the modeling principles and characteristics of the existing mathematical model of ship motion,combined with the characteristics of the pontoon unit itself,this paper establishes a mathematical model of the plane motion of the pontoon unit.Secondly,after considering the maneuverability of the pontoon unit,this paper proposes a path planning method for multiple pontoon units based on the artificial potential field method and a path planning method for multiple pontoon units based on the dynamic window approach.Compared with the multi-pontoon unit path planning method based on the artificial potential field method,the multi-pontoon unit path planning method based on the dynamic window approach is more in line with the actual motion control of the pontoon unit,which lays the foundation for the design of the shore-based control end module of the subsequent docking system.Thirdly,this paper designs the LMPC path tracking controller and the NMPC path tracking controller for the pontoon unit,and through the simulation on the MATLAB/Simulink platform,it is found that the path tracking effect of the NMPC controller is better,which provides theoretical support for the software design of the motion control module of the docking system.Finally,based on the above theories of path planning and path tracking control,this paper designs an automatic docking control system for pontoon bridges,and builds a simple pontoon bridge simulation equipment.Preliminary docking experiments are carried out in Zixia Lake on campus.The pontoon simulation equipment has good maneuverability and maneuverability,and the system can better control the pontoon unit to move to a straight line and prepare for docking.