﻿ 船舶路径规划数值仿真

# 船舶路径规划数值仿真Numerical Simulation of Path Planning in Ship

Abstract: In this paper, the path planning of dynamic positioning ship is studied by numerical simulation. Firstly, the mathematical model of the ship is established. Then the tracking strategy is generated by setting the geometric position relation between the path generated by the path point and the ship, and the desired heading of the ship at the current moment is calculated. The control moment needed to control the ship to the desired heading is obtained by using the control algorithm. Finally, the longitudinal thrust required to control the ship to reach the desired velocity is calculated. At the same time, the motion response and propeller thrust change of the ship moving along the planned path under the action of waves are analyzed.

1. 引言

2. 船舶时域运动学模型

$\left(M+{M}_{a}\right)\stackrel{˙}{v}+{\int }_{0}^{t}{K}_{ij}\left(t-\tau \right){v}_{j}\left(\tau \right)\text{d}\tau +g\left(\eta \right)={F}_{e}+{F}_{DP}+{F}_{l}$ (1)

3. 船舶路径规划模型

3.1. 动力定位系统

${F}_{DP}={K}_{p}\stackrel{˜}{\eta }+{K}_{i}{\int }_{0}^{t}\stackrel{˜}{\eta }\left(\tau \right)\text{d}\tau +{K}_{d}\stackrel{˜}{v}$ (2)

$J=\underset{i=1}{\overset{m}{\sum }}{W}_{i}\left({u}_{i}\right)+{s}^{T}Qs+{\left(\alpha -{\alpha }_{0}\right)}^{T}\Omega \left(\alpha -{\alpha }_{0}\right)$ (3)

Figure 1. Propeller distribution of DP ship

3.2. 路径规划算法研究

Figure 2. Flow chart of Path planning algorithm

${\psi }_{d}={\mathrm{tan}}^{-1}\left(\frac{{y}_{los}-y}{{x}_{los}-x}\right)$ (4)

Figure 3. Ship moment in circle of acceptance

4. 数值仿真与结果分析

4.1. 环境参数及路径点参数

4.2. 船舶路径规划运动分析

4.2.1 . 航迹分析

Table 1. Coordinates of waypoints

Figure 4. Ship path planning track comparison chart

4.2.2 . 船舶运动响应分析

Figure 5. Heave motion of ship curve

Figure 6. Roll motion of ship curve

Figure 7. Pitch motion of ship curve

Figure 8. Yaw motion of ship curve

Figure 9. Velocity of ship curve

4.2.3. 船舶推进器推力分析

Figure 10. x-thrust curve

Figure 11. y-thrust curve

5. 结论

NOTES

*通讯作者。

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