平行修正導航法於船舶運輸科技之研究

A Verification Study on the Parallel Correction Guidance Law for Marine Transportation

本文提出平行修正導航法設計概念並以船舶軌跡追蹤模擬驗證之。船舶航行常以航路規劃及自航控制器完成。常用視線導航法，然該法僅針對目標點來產生參考航向角，並未考量導航路徑間之偏差問題，亦即並未將受環境外力干擾納入考量，此將影響後續路徑跟隨效果。本文提出一新導航法，以本船位置與導航線的軌跡偏差量，結合平行修正之概念，發展一新導航法則，簡稱平行修正導航法。將環境外力產生之偏差量當成迴授修正量，利用偏差量產生相對參考航向角，使其迅速導引回規劃路徑。先運用電腦數值模擬探討於船舶路徑模擬測試可行性。隨後以操船模擬機驗證，評估環境外力干擾下之成效，藉由實驗可具體評估不同導航法之差異性，並進行船舶導航性能之探討。

The work is a verification study of the parallel correction (PC) guidancescheme while using numerical simulation and (USDDC Maneuvering System,UMS-2011) ship handling simulator as the test platform for marine vesseltransportation. The traditional Line-of-Sight (LOS) guidance method has beenwidely adopted in marine transportation. The traditional autopilot system was onlyfocused on the course keeping maneuver, thus it will cause some cross-track errorsby environmental disturbances. This study proposes a parallel correction guidancelaw which adopted the cross-track errors as feedback information to correct thevessel heading angle and is used to steer the vessel back to the desired path duringtransportation. This can prevent the cross-track error in advance occurrencesignificant during the marine transportation. This study is concerned with theguidance performance of two types of guidance methods; which is the traditionalline-of-sight guidance law and the parallel correction guidance concept. Thenumerical computer simulation was adopted to evaluate the feasibility of theproposed parallel correction guidance method. The feasibility of the guidancesystem was verified by using ship handling simulator-based experiments. Theexperimental studies indicated successful paths following maneuvers during marinetransportation were achieved by using the proposed parallel correction guidancemethod. The trajectories, the deviations, the rate of convergence of the vessel towardthe desired path during the marine transportation experiments can be evaluated theperformance between the traditional line-of-sight concept and the parallelcorrection guidance method.