Adjustable Parallel Correction guidance Scheme for path following autopilot system

• Main Authors: Tsou, Ming-Jim, 鄒明晉
• Other Authors: Fang, Chih-Chung
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/a975wm

碩士 === 國立臺灣海洋大學 === 系統工程暨造船學系 === 105 === This work is concerned with the design and experiment of the Adjustable Parallel Correction (APC) guidance scheme which was based on Parallel Correction (PC) guidance method and tried to enhance the trajectory correction guiding performance. This study uses numerical simulation and shiphandling simulator (USDDC Maneuvering System, UMS-2011) as the testing platform of the vessel path following maneuver. During the numerical simulation testing that we have found some interesting results. The results of vessel trajectories exhibit some overshoot during the waypoint changing stage. Due to this, this research work proposed a modification solution when the vessel approach waypoint at a certain distance then a temporary waypoint p will be assigned to autopilot system in order to prevent such overshooting. This study proposes two kinds of different tuning factors during usage. The Adjustable Parallel Correction (APC) guidance scheme uses the distance between vessel and the predefined waypoint as a tuning reference index to modify adjustable factor of the correction information. Another type called A2PC uses the deviation of vessel to the desired path as a tuning reference index to modify weight factor of the correction information. Both kinds of tuning factors have better performance to prevent the significant cross-track error in vessel path following navigation. There are four guidance methods to be examined in numerical simulation and shiphandling simulator experiment to compare the guiding performance in this study; specifically the traditional Line-of Sight (LOS), the Parallel Correction (PC), the LOS-alternative method using minimum dynamic circle (DLOS) and the Adaptive Parallel Correction guidance methods (AdPC). In the first part of the experiment, all guidance methods were using numerical simulation based on Matlab Simulink platform to verify the performance; including guidance scheme listed above and an additional Adjustable Parallel correction guidance law. The next part of experiment will be using the shiphandling simulator to verify the feasibility of the guidance methods as listed above with the influence of environment included in the experiment. During series of experiments, the result indicated the best performance of Adjustable Parallel Correction guidance method in vessel maneuver. In summary, the Adjustable Parallel Correction guidance method which modifies the limitation of Parallel Correction guidance method and has the best performance in sailing time, deviation convergence, heading-error and rudder command to other guidance scheme.