基于MATLAB的船舶运动控制实时仿真研究

Study on Real-time Simulation of Ship Motion Control Based on MATLAB

针对开发船舶运动控制仿真平台的需要,引入了风、流、浪作用下的船舶三自由度非线性运动模型。通过电路设计和MATLAB软件编程开发了船舶运动控制实时仿真平台,输出实际舵角、航向和船位信号,并实现各种海况下的船舶运动模拟。将该仿真平台与航迹自动操舵仪对接,进行了静水、流和海浪条件下的旋回、螺旋、Z形等多项操纵仿真试验,对非线性以及环境干扰对船舶运动的影响进行了分析。试验表明,该平台设计合理,性能可靠,已成功应用于某新型航迹自动舵的开发项目中。

To develop a ship motion control simulation platform, three degrees of freedom nonlinear ship motion model that considered wind, currents and wave was proposed. After designing circuits and programming with MATLAB, a real-time simulation plarform was developed. It could simulate ship motion under different sea states and output real signal of rudder angle, heading and position. Connected with a track autopilot, several ship maneuvers simulative trials including turning circle, spiral maneuver, zig-zag maneuver were carried with different conditions like calm water, with sea currents and wave. How nonlinearity and environmental disturbances influence ship motion was analyzed. Trial results indicate that platform＇s design is seasonable and its performance is reliable. It has been applied in a new autopilot development project successfully.