The research focuses on course adaptive control, which aims to reduce risk of ship-bridge collision in continuous curved channel. Firstly, CFD was used to simulate flow field in continuous curved channel, and the characteristics of flow field was obtained. Secondly, combine the ship motion mathematical model theory with the characteristics of continuous curved channel, the typical motion model for inland river ships was built. Thirdly, control strategies and rules for course adaptive control were designed to establish Fuzzy PID controller. Finally, simulation experiments based on Matlab Simulink toolbox was conducted. Simulation model and course adaptive controller established in this research will be helpful to future research on active collision avoidance between ships and bridges.
The flow of the continuous curved channel (CCC) is complex and varied. When shipping in the field usually using manual operation, which increase the risk of shipping. Research on adaptive control of ship course in the CCC can reduce the risk of shipping. A lot of work has been dong on the research of the adaptive control of ship course by many scholars. FU Bin and WL Luo (2013) applied the least squares vector machine (LSSVM) to identification for ship heading model, and studied the inverse control system for ship course based on combined LSSVM-PID, solving the problems of the ship model identification in ship course control. Y Lin (2015) proposed A new nonlinear adaptive control algorithm for course-keeping control of ship in the presence of uncertainties. S Subchan (2014), to address the constraint violation for ship heading control in wave fields, the model predictive control (MPC) controller has been proposed to satisfy the state constraints in the presence of environmental disturbances. The simulation results show that the performance of proposed controller in terms of satisfying yaw rate and actuator saturation constraint. (Wang, 2016; Xiong, 2005; Xia 2015; Xu, 2015; Yuan, 2011; Zhe, 2015; Zhang, 2015) by different methods. But most of the control strategy apply to the straight, the control of ship in continuous curved channel has not yet matured. Therefore the study of adaptive control of ship course in continuous curved channel can promote the development of ship sailing independently. Reduce the risk of shipping and protect the safety of both bridge and ships.
