【作者】 王倩；

【导师】 许劲松；

【作者基本信息】 上海交通大学 ， 船舶与海洋工程（专业学位）， 2015， 硕士

【摘要】 无人帆船智能控制研究已有一段时间的发展,在20世纪末,模糊逻辑控制理论开始应用于帆船自动控制。在近20多年来,模糊控制理论在其理论研究与技术应用方面均取得了很大的进步,成为自动控制领域一个非常活跃并且卓有成效的分支。但是迄今为止,在模糊控制应用于帆船的相关文献中,有科学系统地进行过船模试验验证的文章却非常有限。帆船的模糊自动控制仍处于研究的初级阶段,尚未成熟,需要投入大量的研究工作。本论文的研究目标在于实现帆船的自动控制,使帆船具有沿指定航线航行的能力,即完成无人帆船控制系统中循迹航行的控制器搭建。本论文的研究成果具有几个方面的应用意义。首先可以发展成为无人帆船,完成海洋表面数据采集等任务。无人帆船可以进入危险环境区域工作而无需船员跟随,并且利用风能航行,既可以延长航行时间,又采用了清洁能源对环境有所保护。其次,帆船自动控制可以应用到私人帆艇驾驶中,作为船员的辅助驾驶设备,减轻船员在长期航行中的疲惫感。另外,也可应用于帆船室内模拟训练台的搭建。本论文自主编写了无人帆船的循迹航行控制程序,在已有文献基础上提出了本控制程序的创新点。本文主要研究的循迹航行控制模块包括三个子模块,即局部路径策略、舵自动控制和帆自动控制。局部路径策略的目的是控制帆船转弯的时间点,以及逆风状态下帆船路径的改变控制。舵的控制以模糊控制为基础,采用了速度航向角偏差、转首角速度、侧向垂直距离偏差作为输入,根据水手操舵经验编写了245条规则,并且增加了积分控制项消除稳定误差。帆的控制以帆船水手的经验为依据,利用帆位角与相对风向角的关系编写控制器。论文建立了四自由度的帆船数学运动模型进行仿真模拟,修正控制器以达到更优化的效果。另外本文根据自主设计的帆船制作成的1.5m长模型,进行船模试验,验证程序的可行性。仿真模拟与模型船试验均取得了良好结果,证明帆船模糊循迹控制的可行性。本文记录了仿真模拟数据与船模试验数据,并进行了分析对比,提出未来的研究方向和可能的方法。更多还原

【Abstract】 The research for unmanned autonomous sailing control has been developed for a period of time. At the end of the 20 th century, fuzzy logic control theory began to be applied on sailboat automatic control. Over the past 20 years, fuzzy logic has made considerable progress both in theory and technology. It has become one of the very fruitful branches in field of automatic control. But among the research articles which applied fuzzy logic theory to sailboat control, few articles including scientific and systematic model ship experimental verification can be found. Fuzzy logic automatic sailing control is still in the early stage and has not become maturational yet. The researchers still need to devote a lot of work.The research target of this paper is to realize the automatic control of sailboat and make the sailing yacht have the ability to follow a designated route. That is, the aim of the thesis is to develop an unmanned sailing control system for track following. The research results of this paper have several aspects of application significance. First of all, the track following control system can be applied to unmanned sailing boat which can do the task of ocean surface data acquisition. The unmanned sailboat may work in dangerous environment without any crew. And the autonomous sailboat use wind as its main energy, which is clean and good to environmental protection. Using wind energy makes the navigation time not restricted from onboard power capacity, which can extend the time of sailing. Second, automatic sailing control system can be applied to private sailing yacht as the auxiliary driving equipment of the crew, which can relieve the fatigue feeling of the sailors in a long voyage. In addition, it can also be applied to the indoor sailing training simulation station.In this paper, a track following controller for autonomous sailboat is developed on the basis of existing literature. The control system in the thesis has much innovative points. It includes three sub modules, namely, local path strategy module, rudder automatic control module and sail automatic control module. Local path strategy control module calculates the turning point and the time to execute rudder. At the same time, it also decides whether to change the sailing path when the sailboat is in the forbidden area against the current wind. Rudder control bases on fuzzy logic theory. The rudder automatic control module use speed heading error, yaw rate and the laterally vertical distance deviation as three input variables. And it includes 245 fuzzy logic rules which are based on the steering experience of sailors. This control module adds an integral control to eliminate steady error. Sail control module uses the relationship between sail angle and apparent wind to build the controller.This thesis establishes a 4-DOF mathematical motion model of sailing yacht in order to do simulation experiment and correct the controller to achieve better effect. In addition, this paper also carries out ship model experiments to validate the feasibility of the track following control system. The 1.5 meters long sailing yacht model used in this ship model experiment is designed by the author independently. Both simulation test and ship model experiment get good results finally that proves the validity of the control program. Data of simulation test and ship model experiment are recorded in this paper for analysis. The thesis puts forward the future study direction and possible methods.更多还原