船舶節能自動操船系統之實驗研究

Experimental Study on the Ship Energy-Saving Autopilot System

謝文記(Bon-Kie Chia)

指導教授 ： 蔡進發

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201703218

摘要

本研究目的透過撰寫PD和模糊控制操舵系統程式與自航船模試驗硬體設備進行搭配進行自行船模自動操舵。自航船模於不同的自動操舵系統程式控制下，皆能自動控制使船模維持穩定船速和直線航行，同時透過程式蒐集航路資料與顯示介面提供數據即時顯示，從而判斷自航試驗數據之可靠性。
由靜穩海況自航試驗結果顯示，自航船模在相同船速下，模糊控制操舵系統操控船模航向直線性較PD控制操舵系統佳，其平擺角維持0.5°至-0.5°之間，平均平擺角為-0.06°；而PD控制操舵系統操控之平擺維持1.5°至-0.5°，平均平擺角為0.23°。模糊控制操舵系統輸出舵角變化較頻繁，其舵機馬達平均電流及功率消耗較PD控制操舵系統大；模糊操舵控制系統實驗整體能量消耗也比PD操舵控制系統高。
然而在規則波中自航試驗結果顯示，自航船模在相同船速下，模糊控制操舵系統操控船模航向直線性較PD控制操舵系統佳，其平擺角維持1°至-1.5°之間，平均平擺角為0.02°；而PD控制操舵系統操控之平擺維持2°至-4°，平均平擺角為0.04°。模糊控制操舵系統輸出舵角變化較頻繁，其舵機馬達平均電流及功率消耗較PD控制操舵系統大；相同的，模糊操舵控制系統實驗整體能量消耗也比PD操舵控制系統高。

關鍵字

自航試驗 ； PD控制 ； 模糊控制

並列摘要

The PD and fuzzy control autopilot system were tested on a free running model system to study the energy saving efficiency of the autopilot system. The free running model ship can automatically control and maintain a stable speed and straight route by these two automatic steering control system. The route information was collected by the designed program and can be displayed real-time to check the reliability of experimental data.
The test results show that the fuzzy control steering system has better direction heading keeping than that of the PD control steering system with the same speed in the calm sea condition. The heading angle of a model ship is maintaining between 0.5°and -0.5°, as well as the average heading angle is -0.06° controlled by the fuzzy control steering system. The heading angle of a model ship is maintaining between 1.5°and -0.5°, as well as the average heading angle is -0.23° controlled by the PD control steering system. However, the output rudder angle of the fuzzy control steering system was changed frequently, and the average current and power consumption of the steering gear is larger than that of the PD control steering system. The overall energy consumption of the fuzzy steering control system is larger than that of the PD steering control system.
The test results show that the fuzzy control steering system also has better direction heading keeping than that of the PD control steering system with the same speed in the regular wave condition. The heading angle of a model ship is maintaining between 1°and -1.5°, as well as the average heading angle is 0.02° controlled by the fuzzy control steering system. The heading angle of a model ship is maintaining between 2°and -4°, as well as the average heading angle is 0.04° controlled by the PD control steering system. However, the output rudder angle of the fuzzy control steering system was changed frequently, and the average current and power consumption of the steering gear is larger than that of the PD control steering system. The overall energy consumption of the fuzzy steering control system is also larger than that of the PD steering control system.

並列關鍵字

Free Running Model ； PD Control ； Fuzzy Control

參考文獻

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