臺灣博碩士論文加值系統

本論文主旨在探討不同輸入項次組合之模糊自航器控制效能，以左右加後助航
疊標導航法為基礎，並且結合視覺疊標導航於船舶自動導引進港之探討。實驗以小型FRP船舶為測試平台，實驗之進行是透過架設於船艏之Charge Coupled Device(CCD)攝影機，擷取岸上疊標之影像做為辨識依據，並使用LABVIEW/Vision BuilderAI系統進行像影處理及RGB轉HSV之色彩空間轉換，經由計算可得視覺導航所需之航向角修正量。本實驗之控制器設計輸入項探討主要分成三部分，第一部分為使用船艏偏航角(θLM)與船位偏航角(θCR)作為輸入項之雙輸入項模糊控制器。第二部分為三輸入項模糊控制器設計與模糊規則簡化實驗，其中以船艏偏航角(θLM)、船位偏航角(θCR)和船位偏斜角(θVCR)作為控制器之輸入項，而各個輸入亦分別由三條隸屬函數所組成，總計二十七條模糊規則輸出之試驗，以及利用室內實驗分析將二十七條模糊規則簡化成九條規則輸出試驗。第三部分則將原始左右加後助航導航法修正，進
而設計出改良延伸型導航法，並將船艏偏航角(θLM) 結合船位偏航角(θCR)作為一輸入項，船位偏斜角(θVCR)為第二輸入項之兩輸入項控制器設計。在實驗設計部分，則分為不同輸入項次組合(雙輸入及三輸入項)之控制器實驗比較，以及三輸入項控制器不同模糊規則(二十七條與九條規則)之實驗比較，最後為改良延伸型導航法之實驗探討。實船入港實驗之相關測試於國立台灣海洋大學小艇碼頭水域進行，並且分析驗證其成效。實驗結果顯示左右加後助航疊標導航法，搭配本文所提之三輸入項控制器簡化後之九條模糊規則仍可有效進行控制，且三輸入項模糊控制器，其控制成效優於原始兩輸入項控制器之設計方式，而本文提出之改良延伸型導航法之控制成效，亦優於原始兩輸入項控制器之設計方式，可成功導引船舶沿預航道行駛。

This work aims at studying the performance of fuzzy autopilots of different
number of inputs while using the leading mark based visual guidance for
accomplishing small–boat approaching maneuvers. The experiment uses a small FRP
boat as the test platform and the visual guidance schemes adopt the left-right and rear
leading mark concept and a fuzzy logic autopilot is employed to guide the vessel
toward the intended water way. In the proposed approach, three canvas targets are
arranged at left-right and rear position as leading marks on the quayside. These targets
are detected by a Charge Coupled Device (CCD) camera and the resulting image is
processed using a color recognition scheme to accurately detect the location of the
targets in the image by using LabVIEW/Vision Builder AI software. The geometric
centers of these targets are then calculated, and the separation distance between them
are used to compute the deviated heading angle and the deviated position angle
needed as feedback error signals in the adopted autopilots. The autopilot controller
design process can be divided into three parts, the first part uses the deviated heading
angle (θLM), and the ship's deviated position angle (θCR) as two fuzzy inputs. The
second part adopts the deviated heading angle (θLM), the ship's deviated position angle
(θCR) and the ship's position skew angle (θVCR) as three fuzzy inputs. With three fuzzy
inputs, a total of twenty-seven fuzzy rules are generated. A method to simplify the
twenty-seven fuzzy rules was proposed in this study. The third part of the controller
design method is an enhancement of part two. Namely, to combine the deviated
heading angle (θLM), and the ship's deviated position angle (θCR) into one input and the
ship's position skew angle (θVCR) as another input, and a refined two inputs fuzzy logic
controller is proposed. Two kinds of comparisons are made in the experimental
studies. First one was based on the three different types of input controller experiment
comparison studies. The second focused on the comparison of original three-input
controller fuzzy rules experiments and the simplified three-input controller fuzzy rules.
The feasibility of the proposed concept was verified by performing a series of FPR
boat based experiments conducted in the waterways of the NTOU small boat harbor.
The experimental results demonstrate that the proposed fuzzy rules simplification
design is valid, and the left-right and rear leading mark design performs better than
the original left-right mark design, and the proposed enhanced guidance scheme also
out performs the original left-right mark design.

目錄
頁次
中文摘要 ......................................................................................................................... I
英文摘要 ....................................................................................................................... II
目錄 .............................................................................................................................. III
圖目錄 ........................................................................................................................... V
表目錄 .......................................................................................................................... IX
第一章 緒論 .................................................................................................................. 1
1-1 研究背景 ............................................................................................................. 1
1-2 文獻回顧 ............................................................................................................. 1
1-3 研究大綱 ............................................................................................................. 3
1-4 論文架構 ............................................................................................................. 3
第二章 疊標導航法與影像處理 .................................................................................. 5
2-1 左右疊標導航法 ................................................................................................. 6
2-2 左右加後助航疊標導航法 ................................................................................. 9
2-3 θLM 與θCR 之比例關係式 ................................................................................... 11
2-4 改良延伸型左右加後助航疊標導航法 ............................................................ 13
2-5 影像處理方法 .................................................................................................... 13
第三章 模糊自航器設計 ............................................................................................ 17
3-1 模糊控制器工作原理 ........................................................................................ 18
3-2 左右疊標導航法之兩輸入控制器設計 ............................................................. 21
3-3 左右加後助航疊標導航法之三輸入控制器設計 ............................................. 23
3-4 三輸入控制器之模糊規則簡化 ........................................................................ 27
3-5 改良延伸型左右加後助航疊標導航法之控制器設計 ..................................... 27
第四章 實驗船舶環境與架構 .................................................................................... 30
4-1 實驗載具 ............................................................................................................ 30
IV
4-2 船舶電力系統 .................................................................................................... 32
4-3 艉推進器與舵機傳動系統 ................................................................................ 34
4-4 手自動控制與訊號交換系統 ............................................................................ 37
4-5 GPS 系統與TCM2 電子羅盤 ........................................................................... 37
4-6 船控電腦系統 .................................................................................................... 39
4-7 室內實驗設置 .................................................................................................... 40
4-8 室外實驗設置 .................................................................................................... 41
第五章 實驗結果與分析 ............................................................................................ 42
5-1 兩輸入項控制器之實驗探討 .............................................................................. 42
5-2 三輸入項控制器之實驗探討 ............................................................................ 44
5-3 r 值與室內實驗分析 ......................................................................................... 46
5-4 三輸入項控制器之不同模糊規則實驗探討 .................................................... 50
5-5 改良延伸型之左右加後助航疊標導航法實驗探討 .......................................... 52
5-6 三種控制器之實驗分析與比較 ........................................................................ 54
第六章 結論與建議 .................................................................................................... 56
6-1 結論 .................................................................................................................... 56
6-2 建議 .................................................................................................................... 57
參考文獻 ...................................................................................................................... 58
附錄[A] CCD 攝影機規格 .......................................................................................... 60
附錄[B] NCT-2000D 系統及Engine Board 相關規格 .............................................. 61
附錄[C] 無線電傳輸設備PDL ................................................................................ 63
附錄[D] GPS 接收機之資料格式 ............................................................................... 64
附錄[E] TCM2 電子羅盤相關規格 ............................................................................ 67
附錄[F] 疊標擺設誤差補償方法 ............................................................................... 74
附錄[G] 室內實驗擺設說明 ...................................................................................... 77
附錄[H]平均舵量比較表 ............................................................................................ 80

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