臺灣博碩士論文加值系統

由於國際貿易的增加,使得船舶趨於大型化.自動化,而船舶避碰事件也
隨著船舶速度.噸位的增加而增加,致使船舶避碰成為海上運輸中重要的課
題之一,因此解決船舶避碰的問題更為迫切.所以本文利用模糊邏輯理論來
設計模糊避碰系統,協助航行官員處理船舶避碰的問題,當吾船與目標船之
間的遭遇情況包含有碰撞危機時,模糊避碰系統將適時的建議一避碰措施,
化解避碰危機.由糢糊避碰系統所建議的航向可直接由H-infinite自動操
舵系統來執行. 本文嘗試以H-infinite控制理論來設計自動操舵器,以尋
找一個控制器使得當系統發生改變或外部加入干擾時仍具有一定的強健
性,而能將閉迴路系統保持穩定,甚至維持一定的精確性.除此之外並將自
動操舵器與模糊避碰系統相結合將模糊避碰系統建議的避碰航向直接輸入
自動操舵系統實施,可望型成一避碰操舵系統的整合. 經由電腦評估本文
所設計之模糊避碰操舵系統,由模擬的結果得知:不論對於障礙物之間的避
碰或船舶航行於單一巷道雙巷道之間的避碰,模糊避碰系統皆能建議一適
當的避碰措施,將模糊避碰系統建議的避碰角度直接輸入自動操舵系統實
施,而化解碰撞危機.

As international trade increases, vessels tend to be bigger
and to be operatedmore automatically, yet collision accidents
are also increasing as ships increasein size, in speed and in
number. The problem of collision avoidance, therefore, becomes
an urgent issue. The fuzzy collision avoidance system,
cooperaated with navigators, explored in this paper, is used to
avoid collisions between ships.When own ships is in the danger
of colliding with the obstacles or target ships,the fuzzy
collision avoidance system will advice a proper avoidance action
to resolve the risk. The avoidance action can then be
implemented by either a quartermasteror an autopilot system.
The objective of the H-infinite control problem is to obtain an
H-infinitecontrol law such that the transfer function between
exogenous input and controlledoutput is minimum and keep the
closed loop system stable. Thus, we attempts to design the
autopilot with H-infinite theory in this paper to find an
control lawsuch that the system still have certain degree of
accuracy. The integration of fuzzy collision avoidance and H-
infinite autopilot aystem is proposed in this paper. The
avoidance action which the fuzzy collision avoidace system
advice canbe implemented by H-infinite autopilot system.
Computer simulation results reveal that with the aid of the
integration of fuzzy collision avoidance and H-infinite
autopolot system in this paper, ships can advice a proper
avoidance action to avoid the risk of colliding at the
righttime, to track the path within allow range and to reach the
target safety.