Study Of Visual Simulation Technology Of Ship Course/Track Control

This dissertation is mainly about the course/track robust control of the ship and the visual simulation accomplishment technology, which associates the project-"study of ship course/track intelligent control technologies". By analyzing and researching the ship course/tracking control and visual simulation technologies in domestic and abroad, the course/track robust controller was designed. On the basis of using the visualization technologies, the MultiGen Creator/Vega was used to develop the ship course/track control nautical visual simulation software, which was by using the computer technologies, image technologies and three-dimensional modeling technologies synthetically. The software can reconstruct ship motion vividly, as well as displaying rudder and propeller motion of the system. Besides, the software can show real-time curves and data of the ship movement and control parameters. It provides vivid visual simulation effects for researching the course/track motion control of the ship.Firstly, the mathematical model of ship motion with 3-free degree was established based on the MMG separation formula. The force and torque models of the propeller and rudder were also established by the way of fitting the experimental data, as well as the model of wind, waves and ocean currents. On the basis of these, the ship course/track robust controller was designed and simulated.Secondly, the visual simulation system was designed. The forms, as well as the development software and the key technologies were researched at first. According to the requirements of the system, the overall plan and function of the system were designed. The modules were divided, and the interactive relationships were defined. The frame of the Vega visual simulation software based on MFC was built. The general flow of the software was designed. All of these above were researched on the C++ developing environment.Then, the implementation technology jobs of nautical visual simulation system were researched. The visual simulation system of ship course/track control was developed. The detail implementation of three-dimensional ship modeling technologies with Multigen Creator was proposed. At last, the function of multi-channel display and view switching were implemented. Natural features such as oceans, clouds, fog and the effects of ship's smoke, ship's wake and bow wave were simulated.Finally, the visual simulation system was debugged, and the visual simulation test results of the ship course/track control were given. The results show that the software can achieve a vivid and real-time dynamic simulation of time-varying ship movements at sea via modeling different kinds of ocean conditions vividly and veritably. The perfect visual simulation demo effects are achieved. The system has the value of practical application.