Research And Realization Of The Algorithm On The Ship Track Keeping

Along with the development of shipping business, ships are becoming bigger,faster and more intelligent. Because there is prodigious inertia when a bigger ship is sailing, the high performance of maneuver is demanded. On the other hand, with the increase of ship number and the appearance of special ships, the sea-lane and the port are becoming relative narrow. It is becoming more complicated and more difficult. To ensure safety and raise economic, it is necessary to adopt the new control theory,control strategy and technique.The ship motion models are the basis of researching ship's motion maneuvering control. Aimed at the characteristics of ships, such as non-linearity, time-varying,uncertainty, the non-linearity and linearity mathematics models of ship motion are discussed in the dissertation firstly. Moreover, the environment models of noise such as wind, ocean wave and current are also given.Though conformation of traditional PID Algorithm is very simple; it is extremely depend upon the accurate model of the controller. To involve this problem, Neural Network Algorithm combined the PID Algorithm format a Neuron PID Algorithm, a Neuron PSD Algorithm of adaptive Control and a Neural Network PID Algorithm which are used in ship course-keeping control system, and they are imitated by SIMULINK 6.0 of MATLAB 7.0.The imitated results indicate that these three kinds of methods is independent of the mathematics model of ship. Under the interferences of the existing wind, ocean wave and current, these three kinds of methods can attain better control result than the traditional PID obviously, and as the complexity of ship motion and the indetermination of the mathematics, Neural Network PID Algorithm based on system identification is better than other two kinds algorithms.The principle of the ship track keeping is analysed in the thesis finally. The two kinds of methods named direct approach and indirect approach of ship track keeping is introduced. It carries on the research and realization of controlling algorithms of the related links of the indirect method. The emphasis is the design of the structure and the parameter selection of related controllers. At last,it gives the imitatation and the related conclusion.