船舶航向/航迹控制视景仿真技术研究
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摘要
本论文是结合国家计划内项目“船舶航向／航迹智能控制技术研究”进行的,主要研究船舶航向／航迹鲁棒控制及其视景仿真实现技术,在分析和研究国内外船舶航向／航迹控制和视景仿真技术的基础上,设计了船舶航向/航迹鲁棒控制器,并借助可视化技术的相关理论,综合运用计算机技术、图像技术、三维建模技术等方法,利用MultiGen Creator/Vega软件,开发了船舶航向/航迹控制视景仿真软件。该软件可以逼真地再现船船航向/航迹运动控制效果,并能够显示控制系统中舵、螺旋桨的局部运动,另外可以实时显示船舶航向/航迹及控制量的各种曲线和数据,为研究船舶航向/航迹运动控制提供了逼真的视景仿真效果。
首先,基于MMG分离式建模思想,建立了三自由度船舶运动数学模型；采用实验数据拟合的方式建立了螺旋桨和舵对船舶的作用力和力矩模型,并建立了海风、海浪、海流的干扰力及力矩模型。在此基础上设计了船舶航向/航迹鲁棒控制器并进行了仿真。
其次,进行了视景仿真系统的软件设计。研究了视景仿真系统的组成及所需开发软件,对视景仿真系统的关键性技术进行了分析。根据系统要求,对软件的总体方案和功能进行了设计,并进行了模块划分,确定了各个模块的功能及交互关系。在Visual C++6.0环境下,搭建了基于MFC的Vega视景仿真软件框架,设计了软件流程。
然后,进行了视景仿真系统实现过程技术工作。开发了船舶航向/航迹控制视景仿真系统。给出了采用MultiGen Creator软件建立船舶三维视景仿真实体模型的具体实现方法,实现了用于局部细节观察的多通道显示以及视点切换功能,对自然景物如海洋、云、雾进行了仿真,模拟了船舶的冒烟效果及船舶尾迹和艏浪效果。
最后,进行了船舶航向／航迹控制视景仿真系统的调试运行,并给出了船舶航向／航迹控制视景仿真试验结果。结果表明,该软件通过形象、逼真的模拟各种海况,实现了具有真实感的、随时间变化的船舶航向／航迹运动控制实时动态仿真,取得了理想的视景仿真演示效果,具有实际应用价值。
This dissertation is mainly about the course/track robust control of the ship and the visual simulation accomplishment technology, which associates the project-"study of ship course/track intelligent control technologies". By analyzing and researching the ship course/tracking control and visual simulation technologies in domestic and abroad, the course/track robust controller was designed. On the basis of using the visualization technologies, the MultiGen Creator/Vega was used to develop the ship course/track control nautical visual simulation software, which was by using the computer technologies, image technologies and three-dimensional modeling technologies synthetically. The software can reconstruct ship motion vividly, as well as displaying rudder and propeller motion of the system. Besides, the software can show real-time curves and data of the ship movement and control parameters. It provides vivid visual simulation effects for researching the course/track motion control of the ship.
Firstly, the mathematical model of ship motion with 3-free degree was established based on the MMG separation formula. The force and torque models of the propeller and rudder were also established by the way of fitting the experimental data, as well as the model of wind, waves and ocean currents. On the basis of these, the ship course/track robust controller was designed and simulated.
Secondly, the visual simulation system was designed. The forms, as well as the development software and the key technologies were researched at first. According to the requirements of the system, the overall plan and function of the system were designed. The modules were divided, and the interactive relationships were defined. The frame of the Vega visual simulation software based on MFC was built. The general flow of the software was designed. All of these above were researched on the C++ developing environment.
Then, the implementation technology jobs of nautical visual simulation system were researched. The visual simulation system of ship course/track control was developed. The detail implementation of three-dimensional ship modeling technologies with Multigen Creator was proposed. At last, the function of multi-channel display and view switching were implemented. Natural features such as oceans, clouds, fog and the effects of ship's smoke, ship's wake and bow wave were simulated.
Finally, the visual simulation system was debugged, and the visual simulation test results of the ship course/track control were given. The results show that the software can achieve a vivid and real-time dynamic simulation of time-varying ship movements at sea via modeling different kinds of ocean conditions vividly and veritably. The perfect visual simulation demo effects are achieved. The system has the value of practical application.
首先,基于MMG分离式建模思想,建立了三自由度船舶运动数学模型；采用实验数据拟合的方式建立了螺旋桨和舵对船舶的作用力和力矩模型,并建立了海风、海浪、海流的干扰力及力矩模型。在此基础上设计了船舶航向/航迹鲁棒控制器并进行了仿真。
其次,进行了视景仿真系统的软件设计。研究了视景仿真系统的组成及所需开发软件,对视景仿真系统的关键性技术进行了分析。根据系统要求,对软件的总体方案和功能进行了设计,并进行了模块划分,确定了各个模块的功能及交互关系。在Visual C++6.0环境下,搭建了基于MFC的Vega视景仿真软件框架,设计了软件流程。
然后,进行了视景仿真系统实现过程技术工作。开发了船舶航向/航迹控制视景仿真系统。给出了采用MultiGen Creator软件建立船舶三维视景仿真实体模型的具体实现方法,实现了用于局部细节观察的多通道显示以及视点切换功能,对自然景物如海洋、云、雾进行了仿真,模拟了船舶的冒烟效果及船舶尾迹和艏浪效果。
最后,进行了船舶航向／航迹控制视景仿真系统的调试运行,并给出了船舶航向／航迹控制视景仿真试验结果。结果表明,该软件通过形象、逼真的模拟各种海况,实现了具有真实感的、随时间变化的船舶航向／航迹运动控制实时动态仿真,取得了理想的视景仿真演示效果,具有实际应用价值。
This dissertation is mainly about the course/track robust control of the ship and the visual simulation accomplishment technology, which associates the project-"study of ship course/track intelligent control technologies". By analyzing and researching the ship course/tracking control and visual simulation technologies in domestic and abroad, the course/track robust controller was designed. On the basis of using the visualization technologies, the MultiGen Creator/Vega was used to develop the ship course/track control nautical visual simulation software, which was by using the computer technologies, image technologies and three-dimensional modeling technologies synthetically. The software can reconstruct ship motion vividly, as well as displaying rudder and propeller motion of the system. Besides, the software can show real-time curves and data of the ship movement and control parameters. It provides vivid visual simulation effects for researching the course/track motion control of the ship.
Firstly, the mathematical model of ship motion with 3-free degree was established based on the MMG separation formula. The force and torque models of the propeller and rudder were also established by the way of fitting the experimental data, as well as the model of wind, waves and ocean currents. On the basis of these, the ship course/track robust controller was designed and simulated.
Secondly, the visual simulation system was designed. The forms, as well as the development software and the key technologies were researched at first. According to the requirements of the system, the overall plan and function of the system were designed. The modules were divided, and the interactive relationships were defined. The frame of the Vega visual simulation software based on MFC was built. The general flow of the software was designed. All of these above were researched on the C++ developing environment.
Then, the implementation technology jobs of nautical visual simulation system were researched. The visual simulation system of ship course/track control was developed. The detail implementation of three-dimensional ship modeling technologies with Multigen Creator was proposed. At last, the function of multi-channel display and view switching were implemented. Natural features such as oceans, clouds, fog and the effects of ship's smoke, ship's wake and bow wave were simulated.
Finally, the visual simulation system was debugged, and the visual simulation test results of the ship course/track control were given. The results show that the software can achieve a vivid and real-time dynamic simulation of time-varying ship movements at sea via modeling different kinds of ocean conditions vividly and veritably. The perfect visual simulation demo effects are achieved. The system has the value of practical application.
引文
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[28]李高云,刘胜,方亮.船舶航向/横摇鲁棒容错控制研究.大连海事大学学报.2009.11：4-8.
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[30]刘胜,宋佳,李高云.航向保持鲁棒最小二乘支持向量机控制.控制与决策.2010.4：551-556.
[31]刘胜,于萍,方亮.船舶舵减摇H∞鲁棒控制系统.中国造船.2007.9(3)：36-42.
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[2]赵红.船舶航迹/航向免疫遗传神经网路控制研究.哈尔滨工程大学博士学位论文.2009：3.
[3]徐建辉.混合智能在船舶航迹控制中的应用.上海海事大学硕士学位论文,2006：6-12.
[4]霍学亮.基于PC机的船舶舵机系统动态仿真研究.大连海事大学硕士学位论文.2007：7-10.
[5]张茂军.虚拟现实系统.北京：科学出版社,2005：1-6.
[6]汪成为,高文,王行仁.灵境(虚拟现实)技术的理论、实现及应用.清华大学出版社,1996：2-16.
[7]Enrico Gobbetti and Jean-Francis Balaguer. An Integrated Environment to Visually Construct 3D Animations.Proceedings of SIGGRAPH 95(Los Angeles,California,August 6-11,1995),395-398.
[8]韦有双,杨湘龙,王飞.虚拟现实与系统仿真.国防工业出版社,2004：2.
[9]Crow,Fraklin C.A More Flxible Image Generation Environmet. Computer Graphics,1982, 16(9):9-18.
[10]Frederick Wieland,AlexSzabo,Naval Research Labortory,Jone Haynes.Object-Oriented Design of a Scene Generation Simulation.Proceedings of the 1994 Computer Simulation Conference.1995:174-180.
[11]Holzhueter T. LQG Approach for the High-precision Track Control of Ships. IEE Proc.-Control Theory Appl.1997,144(2):121-127.
[12]Holzhueter T, Schutze R. Operating experience with a high-precision tank controller for commercial ships. Control Eng. Practice.1996,4(3):343-350.
[13]赵国良,丛望.航迹自动舵算法的研究.船舶工程,1988(5)：35-38.
[14]赵国良,姜仁锋.极点优化配置船舶自适应自动舵.黑龙江自动化技术与应用.1988(3)：1-5.
[15]Wang Minghui,Yu Yongquan.Optimization of Fuzzy Control System Based on Extension Method for Ship Course-Changing/Keeping.2008 IEEE International Conference on Fuzzy Systems.2008.10:434-438.
[16]张旭,郭晨,叶光.基于RBF神经网络的船舶航向运动预测控制Proceedings of the 7th World Congress on Intelligent Control and Automation.2008.6:8122-8127.
[17]马壮,万德钧.基于遗传算法的操舵仪控制参数在线优化.船舶工程.1999(1)：43-46.
[18]程启明,万德钧.船舶航迹自动舵的神经网络控制方法研究.仪器仪表学报.1999(4)：371-375.
[19]程启明,万德钧.船舶自动舵的单神经元自适应PID/PSD控制.东南大学学报.1997(6)：133-137.
[20]杨盐生,贾欣乐.船舶航向的变结构控制自动舵设计.大连海事大学学报.1998,24(1)：13-17.
[21]Healy A J,Papoulias F A, Lienard D.Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicle, Proc.Int.Conf. Modelling and Control of Marine Craft,UK.1990.
[22]李铁山,杨盐生,洪碧光等.船舶航迹控制鲁棒自适应模糊设计.控制理论与应用.2007.6：445-448.
[23]张炎华,刘思行.船舶操舵系统的鲁棒自适应控制.船舶工程.1995(4)：40-44.
[24]贾欣乐,张显库.H∞控制器应用于船舶自动舵.控制与决策.1995.10(3)：250-254,260.
[25]张显库,贾欣乐.H∞积分控制在船舶自动舵中的应用.大连海事大学学报.1998,4(4)：44-47.
[26]刘胜,李高云,方亮.船舶航向/横摇鲁棒控制研究.电机与控制学报.2009.11：129-133.
[27]刘胜,于萍,方亮.船舶舵减横摇H∞鲁棒控制研究.中国造船,2007(3)：45-51.
[28]李高云,刘胜,方亮.船舶航向/横摇鲁棒容错控制研究.大连海事大学学报.2009.11：4-8.
[29]刘胜,李冰,李高云.基于LMI的船舶航向横摇鲁棒容错控制.中国造船.2010.6(2)：155-160.
[30]刘胜,宋佳,李高云.航向保持鲁棒最小二乘支持向量机控制.控制与决策.2010.4：551-556.
[31]刘胜,于萍,方亮.船舶舵减摇H∞鲁棒控制系统.中国造船.2007.9(3)：36-42.
[32]刘胜,方亮,于萍.船舶舵舵鳍联合减摇鲁棒控制研究统.哈尔滨工程大学学报.2007.10：1109-1115.
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