Ship Seaworthiness And Maneuverability Of Self Navigation Model System Design

Ship is a kind of system which has the characters of multi-degree, severe non-linear and sailed in complex environment. The optimization design of ship maneuverability is one of the key technologies to be researched and solved urgently. In this thesis, the design of ship seaworthiness and maneuverability of the self navigation model system was done, and deep study of the application of the self navigation system in the field of velocity control and direction control was conducted by using the fuzzy adaptive PID control technology.Firstly, the profile design and general arrangement design of the self navigation model were done based on the ship design theories and methods. Meanwhile, the electrical control system of propeller, rudder and rudder engine was designed. And the information and control process of MIT sensor and Zigbee technology was detailed illustrated.Secondly, something have been done such as calculation of the hydrodynamics of the ship, build of the mathematical model of the application conductor, analysis of the wave which interferences with the ship and the build of the four-degree movement model of the self navigation model under the interference of wave.Finally, by using thefuzzy adaptive PID control arithmetic, the controller of velocity and direction of the ship was designed, and the parameters of fuzzy adaptive PID were adjusted online to make real the optimization control of the control system. And simulation circumstance of the fuzzy adaptive PID controller movement control was built at the background of VC6.0, the maneuverability simulation experiment of the self navigation model was done.The simulation results shows that the fuzzy adaptive PID controller designed in this thesis was efficient and the rotative simulation, Z-form manipulate simulation, the sine form rudder operational simulation and emergent stop simulation were all meet the needs of design. All of these are the preparation and theoretical basis of the practicality maneuverability experiment of the next stage.