三种船舶运动控制仿真系统

Design and Tests of Three Kinds of Simulation Systems for Ship Control

船舶运动控制系统有三种仿真模式：一是单机仿真即在一台计算机上同时运行船舶运动数学模型和控制器；二是双机仿真即一台计算机运行船舶运动数学模型，另一台为真实的船舶控制器，控制器通过数字通信接口控制另一台计算机上运行的船舶运动模型，也称为半物理仿真；三是物理仿真即建造一艘按某一水动力学相似准则而缩尺的模型船，在模型船上装上真实的船舶控制器，在水池或海上做船舶运动控制试验。本文介绍大连海事大学轮机工程学院研制的上述三种船舶运动控制仿真系统。

There are three kinds of simulation systems for ship control. The first kind is a single-computer system and is the simplest one, which indicates that both a ship mathematical model and the ship control strategy are simulated on a computer. The second kind is a two-computer system, which means that a ship mathematical model is simulated on one computer and a real ship controller is operated separately, and a kind of communication channel links the controller and the ship model. The third kind is a model ship simulation system, which means that a model shop is built with contracted size, and a real ship controller is mounted on the model ship. The model ship being controlled by the ship controller is tested by sea trials. This paper introduces the three kinds of simulation systems for ship control. All of these three kinds of simulation systems have been built and tested at the Ship Control Laboratory, Dalian Maritime University.