Standardized Interactive Design Platform Of Ship Course Motion Control System

The ship maneuvering and control has been a hot area of research. And more and more experts and scholars have worked hard on it. The mathematical model for ship motion is usually very complex. As a result, users spend much time on investigate the mathematical model for ship motion and simulation. It has seriously influenced research efficiency. This work develops a computer aided design system for ship course motion by computer simulation technology. This system, which has good interactive ability and simple operation, is designed by Matlab GUI.The aided design system contains those functions: model building, display, control design and so on. The work in this thesis includes four parts, as follows.Firstly, this work develops a standardized interactive design platform of ship course motion control system. It integrates model building, control algorithm and visual simulation and standardizes simulation process, which increases the efficiency of research.Secondly, we construct a mathematical model for ship course motion and environment disturbance based on Abkowitz model. This nonlinear model has integrated the kinematical equation,dynamical equation, hydrodynamic force and environmental perturbations together.Thirdly, this system realizes the visualization of the ship course motion simulation process and results, which can help researchers learn ship motion intuitively by oscillogram, histogram, table, etc.Fourthly, this system contains many classical control algorithms. Researchers also can write and test their algorithm by the interface of the control algorithm.The last part studies ship course motion control. At present, most ship control systems use PID to regulate the motion of the ship. It is well known that the performance of PID control depends heavily on the parameters. However, due to the complexity of ship motion, PID parameters setting is not only time-consuming and labor-intensive, but also incapable of satisfying control performance. So we introduce fuzzy-PID, QFT and LQG algorithm to design controller. Simulation results show that fuzzy-PID, QFT and LQG controller can improve the control performance with the ability of adaptivity and robustness.