Abstract:

Automatic berthing system is a kind of environment through the information collection around to find suitable berthing vessels, automatically enter the position control system. According to the automatic berthing method time-consuming problem in foreign and domestic, there is an urgent need to develop a stable system effectively realizing independent berthing. Combined with the actual of berthing motion model analysis, a parallel, oblique three berthing fuzzy controller is designed whose the simulation and verification were performed in the Matlab/ Simulink. According to the proportion of each component of ships, a model is designed to make automatic berthing test by using ultrasonic distance measurement to obtain the surrounding environment data technology and converting to C code. The test results show that the system can effectively realize independent berthing, and provide a theoretical reference value for the further research and development.

Key words: automatic berthing system, fuzzy control, ultrasonic