A Verification Study of the Parallel Correction Guidance Scheme by Using Numerical Simulation and Ship Handling Simulator-Based Experiments

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Project title

Code/計畫編號

MOST104-2221-E019-043

Translated Name/計畫中文名

平行修正導航法於電腦數值模擬及操船模擬機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=11580471

Year

2015

Start date/計畫起

01-08-2015

Expected Completion/計畫迄

31-07-2016

Bugetid/研究經費

568千元

ResearchField/研究領域

機械工程
資訊科學--軟體

"本研究將提出一新的平行修正導航法之設計概念並運用於船舶航行路徑跟隨(Path Following)之應用模擬驗證。傳統船舶於大洋航行時經常運用航路規劃(Path Planning) 並結合路徑軌跡追蹤自航器(Track-Keeping Autopilot)來完成船舶航行路徑跟隨之應用。而最常引用之船舶導航法即為視線導航法(line-of-sight)，然而視線導航法僅僅針對目標點來產生參考航向角來導航，而並未考量與原設定之導航路徑間之差異，亦即並未將船舶於大洋航行時受到環境外力干擾而產生之航道偏差量納入考量，此將間接影響後續之路徑跟隨效果。本研究所提出之平行修正導航法則將此環境外力產生之航道偏差量當成迴授修正量，並利用此偏差量來產生相對之船舶修正參考航向角，使其能迅速將船舶導引回原規劃之航行路徑上。本計畫將先使用電腦數值模擬方式探討此平行修正導航法於船舶路徑跟隨模擬測試之可行性，同時用以找出較佳之導航修正模式。隨後則利用操船模擬機設備進行驗證此平行修正導航法，並評估環境外力干擾下之導航成效，藉由比較不同導航法之軌跡收斂特性來分析導航控制結果。研究實驗將可具體評估此平行修正導航法與傳統視線導航法之應用差異性，並進行導航法配合控制器性能對船舶導航性能之探討。""This proposal is a verification study of the parallel correction guidance scheme while using numerical simulation and ship handling simulator as the test platform for the vessel path following maneuver. The traditional line-of-sight (LOS) guidance law has been widely adopted by human when designed the path following maneuver combined with a serial of waypoints that defines the reference path to be followed during the ocean going phase. A major disadvantage of the conventional LOS guidance method is that the use of waypoints located far from the vessel results in significant cross-track errors if the vessel is affected by transverse wind, current or wave disturbances. In this study proposes a parallel correction guidance law which adopted the cross-track errors as feedback information to correct the reference heading angle and is used to determine the rudder commands to steer the vessel back to the desired path. This can prevent the cross-track error in advance occurrence significant during the path following maneuver. This proposal is concerned with the comparison of two types of guidance methods; namely, the traditional line-of-sight guidance law and the parallel correction guidance concept. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the proposed parallel correction guidance method. The next stage, the feasibility of the autopilot system will be verified by performing a series of path following maneuvers using ship handling simulator-based experiments under strong environmental disturbance condition. The trajectories, the deviations, the rate of convergence of the vessel toward the desired path during the path following maneuver experiments can be evaluated the performance between the traditional line-of-sight concept and the parallel correction guidance method."

Keyword(s)

視線導航法
平行修正導航法
自航控制器
Line-of-Sight Guidance Law
Parallel Correction Guidance Law
Autopilot system

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A Verification Study of the Parallel Correction Guidance Scheme by Using Numerical Simulation and Ship Handling Simulator-Based Experiments

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