An Adaptive Approaching of the Parallel Correction Guidance Method Design and Practice by Using Ship Handling Simulator-Based Experiments

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基本資料

Project title

Code/計畫編號

MOST105-2221-E019-020

Translated Name/計畫中文名

適應性平行修正導航法設計與模擬驗證

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=11894657

Year

2016

Start date/計畫起

01-08-2016

Expected Completion/計畫迄

31-07-2017

Bugetid/研究經費

548千元

ResearchField/研究領域

機械工程

"本研究將以個人新創之平行修正導航法為基礎提出另一適應性平行修正導航法之設計概念，並利用船舶操縱模擬機進行船舶航路跟隨(Path Following)之應用驗證。原設計之平行修正導航法主要係針對傳統船舶航行時使用視線導航法(line-of-sight)之缺點加以改良，並結合自航控制器(Autopilot System)來完成船舶航路追蹤任務。由於視線導航法僅利用位置來產生參考航向角，並未考量當航行所受到環境外力干擾而產生之軌跡偏差問題，而此偏差更將間接影響後續之船舶航路跟隨效果。原平行修正導航法設計則以外力產生之航道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。本研究將適應性概念導入此軌跡偏差量，並加入權重因子作為船舶因應外力干擾時之加速項，改善並克服環境外力之干擾量。本研究更設計此權重因子能依船舶與目標點之距離遠近進行自適應性 (auto-tuning) 修正，故同時依軌跡偏差量及距離進行適應性調整。本研究計畫先以電腦數值模擬方式探討此適應性平行修正導航法於船舶路徑跟隨模擬測試之可行性，同時利用變因分析方式找出較佳之適應修正模式。隨後再運用船舶操縱模擬設備驗證此適應性平行修正導航法成果，並評估環境外力干擾下之導航成效，比較不同導航法軌跡收斂特性來分析導航控制特性。""This proposal is on the development of an adaptive parallel correction (APC) guidance method and worked with the autopilot system for the marine vessel path following maneuver. The conventional line-of-sight (LOS) guidance law has been widely adopted by most of the marine vessel on the path following practices. But the major disadvantage of the LOS guidance method is that the used 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. Due to this, my previously research proposed a parallel correction (PC) guidance method 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. The performance of the parallel correction guidance method has been confirmed by numerical computer simulations and the simulator-based experiments. The experiments results reveal that the performance of the parallel correction guidance concept was better than the traditional light-of-sight (LOS) guidance method. Based on these evidences, in this proposal we tried to adopt an adaptive concept into the parallel correction guidance method, which used the distance between the vessel and the waypoint as a tuning reference index to modify weight factor of the cross-track information. This concept will design with auto-tuning the correction reference heading by adapting the weight function of the cross-track error and it also can prevent the cross-track error in advance occurrence during the path following maneuver. This proposal will compare three types of guidance methods; which are the traditional line-of-sight guidance law, the parallel correction guidance method and the adaptive parallel correction concept. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the proposed adaptive parallel correction guidance method and tried to figure out the appropriate weight function. 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 proposal intends to examine the performance of the three types of guidance methods (LOS, PC and Adaptive PC). Specifically, the performance of different guidance methods working with same autopilot system will be compared in terms of cross track error, rudder activity, heading deviation and the rate of convergence of the vessel toward the desired path during the path following maneuver and the results might provide a realistic guide to the characteristics of autopilot system associated with different guidance methods."

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

DSpace CRIS

An Adaptive Approaching of the Parallel Correction Guidance Method Design and Practice by Using Ship Handling Simulator-Based Experiments

基本資料

Description