The Research And Design Of The Automatic Navigation System For Multifunction Maritime Unmanned Ship

With the strengthening of marine development activities, the busy sea shipping and production activities, maritime accident-prone, human life search and rescue, and other issues have become increasingly prominent. However, the existing ships and equipment can not cruise the search and rescue or emergency response under the high sea conditions or high-risk environment, which restricts the development of the maritime business. With the development of related technologies,the development of unmanned cruise search and rescue ship has become the development trend of internationality. This thesis relies on the Independent Innovation Funds of Wuhan University of Technology and the project, designs the comprehensive control system of multifunction maritime unmanned ship, and then focuses on its core content, introduces an automatic navigation unit a study of key issues, finally, in order to provide a verification platform for the implementation of control system functions,this thesis designs and builds a model ship control system.Combined with function positioning of multifunction maritime unmanned ship as well as the in-depth analysis and summary of comprehensive control system functional requirements, this thesis designs overall framework of the comprehensive control system based on analysis brief review about unmanned surface vehicles and the general tendency of ship motion control strategy, then designs automatic navigation unit in detail.The ship motion mathematical model is the basis for the design of automatic navigation unit. Adopting MMG modeling ideas, this thesis establishes the mathematical model of second-order Nomoto for trimaran feature. It elaborates calculation method of hydrodynamic coefficients, focused on solving the calculation of acceleration class coefficients, and then wind,wave and current disturbances are also modeled.Because course controller is a key point of automatic navigation unit, this thesis discusses design and simulation of classical PID course controller, however, it doesn’t have robustness and poor anti-interference control, this thesis gives a fuzzy PID course controller. Two course controller were simulated in the Simulink under different sea conditions, the results indicate that noise immunity of the fuzzy PID control better than the classical PID control.Finally, the EPCS-9000industrial motherboard as the main controller, the system completes the control system hardware was designed; which establishes model ship control platform software system. Among them MCU completes the design of software framework and communication protocols based on Windows CE6.0platform, PC completes the design of software framework and part of the interface based on Visual Basic6.0platform; thus builds a model ship control system.The research provides a reference for the theoretical research and experiment of unmanned ship’s the intelligent control system and lays the foundation for the follow-up research work of the project.