船舶自动舵和自动避碰算法仿真测试平台的研究

Study on Simulation Platform for Testing Algorithms of Autopilot and Automatic Collision Avoidance

采用MatLab的Simulink工具箱和实船实验测试船舶自动舵和自动避碰算法,存在风险大、调试周期长、费用高的缺点。基于全任务船舶操纵模拟器,研究可用于测试船舶自动舵算法和自动避碰算法的仿真测试平台。详细介绍了该测试平台的体系结构、系统功能、接口设计,并以船舶航迹保持算法为例仿真测试了该算法对一艘商船的控制效果。该平台已成功应用于船舶自动舵和自动避碰算法的测试。

There are disadvantages of great risk, long debugging period and high expense when using Simulink toolbox of Matlab and real ship to test algorithms of autopilot and automatic collision avoidance. A simulation platform for testing the algorithms based on full mission ship handling simulator that can overcome the disadvantages Usted above was introduced. The architecture, functions and interface class design of the system were described. An example for testing algorithm of track-keeping was proposed. The result shows that the testing platform can provide a better method to test the algorithms.