A Verification Study of an Improved New Line-Of-Sight Guidance Scheme by Using Ship Handling Simulator and a Small Boat-Based Experiments

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Project title

Code/計畫編號

NSC102-2221-E019-048

Translated Name/計畫中文名

改良新視線導航法於操船模擬機及小型船舶之導航控制驗證探討

Project Coordinator/計畫主持人

Sin-Der Lee

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Transportation Science

Website

https://www.grb.gov.tw/search/planDetail?id=3114574

Year

2013

Start date/計畫起

01-08-2013

Expected Completion/計畫迄

31-07-2014

Bugetid/研究經費

535千元

ResearchField/研究領域

交通運輸

"本研究案旨在開發改良新視線導航法(Improved New Line-of-Sight)於船舶航路自動導航追蹤應用之可行性研究。由於一般船舶於大洋航行時均採用航路規劃結合自航器使其自動追跡航行於設定之航路上。實務上慣用之自航器設備僅具航向保持之功能，無法有效的對抗環境外力如風、浪及流水之干擾，故常需藉由航海人員來修正其船位，而新式之自航控制器雖可結合航路規劃之目標點(Way-point)來提供相關航向修正資訊，但新式軌跡追蹤自航器仍使用傳統視線導航法之導航概念，其設計概念僅朝目標點位置追蹤，效果常因環境外力而使其進入目標點姿態不佳影響其導航效果。本計畫擬提出改良新視線導航法結合原視線導航法(LOS)及改良式視線導航法(Modified LOS) 之特性，參酌航海人員之操船經驗法則而成改良新視線導航法，經由改良新視線導航法結合之自航控制器具備船位修正功能，可藉由一序列航向變換控制，將船舶導引、控制至預定航道上。計畫於第一年度利用本校操船模擬機設備進行改良新視線導航法則之導航改良效果測試驗證，並於第二年進行小型船舶之實船試驗，以驗證實務上之可行性，並將其結合應用於船舶自動導引入港系統。研究將先利用電腦進行數值模擬尋求較佳之控制參數，並與改良新視線導航法相結合，先行完成改良新視線導航之船位自動導航控制系統開發研究，並於操船模擬機上進行自動導航於規劃航路之設計並探討環境外力干擾下之導航成效，最後再利用小型 FRP 船於海洋大學小艇碼頭水域進行小型船之船舶自動導引入港系統驗證測試。並比較其軌跡收斂特性及控制結果，將可具體評估改良之新視線導航法與傳統式視線導航法之應用差異性，並進行控制器性能對船舶導航之探討。""This proposal is a verification study of an improved line-of-sight guidance scheme while using ship handling simulator and a small FRP boat as the test platform for the path following maneuver. The traditional Line-of-Sight (LOS) guidance method has been widely adopted in vehicle navigation. Especially, during the ocean going phases, the autopilot system will combine with some of the guidance methods to achieve the path following mission with the predefined waypoints. The traditional autopilot system was only focus on the course keeping maneuver, thus it will cause some cross-track errors by the transverse wind, current and wave disturbances. For ocean going vessels experienced mariners always check the vessel location regularly and act accordingly for course corrections. The track-keeping autopilot system will guidance the vessel more precision by using the GPS signal, but it still needs the guidance law to generate the reference heading. Although the LOS guidance law has been successfully applied in practice operation there are still some limitations to it. In this study proposes an improved new LOS guidance method basically mimics the course compensation strategy adopted by experienced mariners and provides a performance improvement over the LOS and MLOS (Modified Line-of-sight) guidance law. In the proposed approach, the information provided by LOS and Modified LOS is calculated by the GPS signal and is used to determine the rudder commands to steer the vessel back to the desired path. This proposal is concerned with the comparison of four types of guidance methods; namely, the traditional line-of-sight concept, modified LOS, new LOS and improved new line-of-sight method. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the controller design parameters. Due to the ship handling simulator provides a convenient setting for adjusting the harbour layouts, environmental conditions and disturbance criteria. The simulator is an idea and efficient testbed for studying the performances of the proposed guidance and control scheme under different operating conditions. In the first year, ship handling simulator-based path following simulations will be conducted to examine the performance of the improved new line-of-sight autopilot design method. In the second year, the feasibility of the autopilot system will be verified by performing a series of approaching maneuvers using a small FRP boat in the harbor attached to the National Taiwan Ocean University (NTOU). The trajectories, the rate of convergence of the boat toward the path during the approaching maneuver experiments can be evaluated the performance between the traditional LOS concept and the improved new line-of-sight method."

Keyword(s)

視線導航法
改良式視線導航法
新視線導航法
改良新視線導航法
自航控制器
Line-of-Sight Guidance Law
Modified LOS
New Line-of-Sight Guidance Law
Improved New Line-of-Sight Guidance Law
Autopilot

DSpace CRIS

A Verification Study of an Improved New Line-Of-Sight Guidance Scheme by Using Ship Handling Simulator and a Small Boat-Based Experiments

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