六自由度舰船运动轨迹跟踪算法分析

Analysis on tracking algorithm of 6-DOF ship motion trajectory

在舰船航行中,需要研制出六自由度舰船运动轨迹跟踪模拟器,对航海的海况进行模拟,为开展适应性训练提供平台。六自由度运动轨迹跟踪要综合考虑各种摇摆状况,借助算法规划舰船运动轨迹,进而提升舰船运动模拟技术水平。本文基于六自由度舰船运动模拟平台的技术要求,选择舰船运动机构模型,并提出六自由度运动轨迹跟踪算法,对运动轨迹模拟器的参数进行优化。通过仿真实验验证运动轨迹跟踪算法的精确度,保证了运动轨迹模拟器的性能。

During the navigation of ships, it is necessary to develop a 6-DOF ship trajectory tracking simulator to simulate the sea conditions of navigation and provide a platform for adaptive training. The 6-DOF motion trajectory tracking needs to comprehensively consider various swaying conditions, and use algorithms to plan the ship’s motion trajectory,thereby improving the level of ship motion simulation technology. This paper selects the ship motion mechanism model based on the technical requirements of the 6-DOF ship motion simulation platform, and proposes a 6-DOF motion trajectory tracking algorithm, namely the genetic algorithm, to optimize the parameters of the motion trajectory simulator, and verify the motion trajectory through simulation experiments. The accuracy of the tracking algorithm ensures the performance of the motion trajectory simulator.