Design and development of ship navpilot prototype based on the robust adaptive control

LI Bo, ZHANG Guoqing, ZHANG Xianku, NIE Changxing

doi:10.16411/j.cnki.issn1006-7736.2024.02.003

Journal of Dalian Maritime University >

2024 , Vol. 50 >Issue 2: 23 - 30

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.003

Design and development of ship navpilot prototype based on the robust adaptive control

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(Navigation College, Dalian Maritime University，Dalian 116026，China)

Online published: 2023-11-30

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Abstract

As the necessary core equipment of ocean-going merchant ships, ship navpilot can reduce the burden of ship pilots, improve navigation safety and economy, and is the hot direction of intelligent ship development. In this paper, focuses on the robust adaptive track keeping algorithm as the core technology, considering the practical control requirements of navigation engineering and using embedded Linux technology, a set of navpilot prototype with navigation control, monitoring and alarm, system information display functions, hardware interface in line with the requirements of international standards is developed. Finally, taking "Yu-Kun" as the experimental object, the effectiveness of the ship navpilot was tested according to the Maritime navigation and radiocommunication equipment and systems-Track control systems-Operational and performance requirements，methods of testing and required test results (GB/T 37417-2019) national standard test scene under random Marine environment interference conditions. The results show that the ship navpilot can realize the stable tracking control of the course spanning 0° longitude and latitude, and the course error is less than 2° and the track steady-state error is less than 13m, which meets the standard requirements. The course rudder proposed in this paper has important reference significance for the localization of high-end navigation equipment.

Key words： navpilot; track keeping; robust adaptive control; Nomoto mathematical model

Cite this article

LI Bo, ZHANG Guoqing, ZHANG Xianku, NIE Changxing . Design and development of ship navpilot prototype based on the robust adaptive control[J]. Journal of Dalian Maritime University, 2024 , 50(2) : 23 -30 . DOI: 10.16411/j.cnki.issn1006-7736.2024.02.003

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