automatic control of vessel traffic system with compensation of external disturbance

摘要

The invention relates to the field of shipbuilding - automatic control of vessel traffic. The technical result of the proposed system of automatic traffic control with compensation of external disturbances vessel is: - the restoration of (current) external disturbances acting on the process of movement of the vessel, - correction "PD" of the law (by the introduction of the Law of the assessment of the current external perturbation) to eliminate the negative influence on the process of automatic ad- dition vessel traffic management developed under the sea waves. The technical result is achieved by the fact that the system is compensated automatic control vessel traffic external perturbations comprises a sensor wheel, dial rate, rate sensor drift angle meter and the angular speed of the vessel, the steering control, the course evaluation of the filter and the angular velocity, the controller to the input of which are connected: a sensor steering, dial rate, signals the course evaluation and the angular velocity output from the course evaluation of the filter and the angular speed of the vessel, to the filter input connected signals the angular speed of the vessel and drift angle to the drift angle meter and the angular speed of the vessel, heading sensor connected to the input of the course evaluation of the filter and the angular velocity at the filter output signals of the course evaluation form - and evaluation of the angular speed of the vessel - :;where δ - angle of the rudder, the steering wheel sensor, φ - a course from a heading sensor, - Evaluation of the course with the course filter and evaluation of the angular velocity, - Evaluation of the angular speed of the vessel, with a course filter and evaluation of the angular velocity, ω, β - angular velocity and the drift angle, drift angle with the meter and the angular velocity, R₅, K₆, K₇ - Hydrodynamic coefficients of a mathematical model of ship motion, K₄, K₈ - Kalman filtering coefficients, the controller output is connected to the steering gear input. Additionally introduced: inertial unit, a logic unit, and a difference compensation unit block, which is connected to the input setpoint course and course estimation signal from the filter output count rate and yaw rate, the difference signal the output of the difference block is connected via a link to the inertial unit of logic, which form the correction signal - Whose output is through the correction unit is connected to the input of the regulator, regulator output is formed with the steering gear control law:;where: δ - angle of the rudder, - Correction signal, . φ.zd .. - evaluation of the course angle specified rate - Evaluation of the angular speed of the vessel, K₁, K₂, K₃- Regulation of the coefficients in block form the logic conditions (3) or conditions (3a):;are entered in the correction unit for generating a correction signal a) if the condition (3) in the correction unit, and formed permanent and depending on the magnitude of the correction signal:;Where = Correction signal, - Constant increment value using the constant and a correction unit, correcting signal is produced : which is output from the correction unit is connected to the control input with a K factor₁,, Is formed with the steering gear control law (1a) of the regulator output, b) if the condition (3a) is formed by the permanent and :;and a correction signal is generated in the block:;which is output from the correction unit is connected to the control input with a K factor₁; current signal (At time T_{i = 0}) From the output correction unit - is introduced to the input of the regulator, after a time interval Δt, the time T time._{i = 1}= T_{i = 0}+ Δt., (Or ​​through nΔt. Intervals) in the difference between the block form the difference and inequality (3) or (3a). If one of the inequalities is satisfied, repeat the procedure valuation adjustment of the external perturbation, if both inequalities are not met, then in the next time interval .DELTA.t., at time T_{i = 3}= T_{i = 2}+ Δt. the difference in block form the difference and inequality (3), or (3). If one of the inequalities is satisfied, repeat the adjustment procedure for evaluating the external disturbance, if both inequalities are not satisfied, then the time T_{i = 5}= T_{i = 4}+ Δt. the difference in the block re-forming the difference and the inequality (3) or (3a).