Research And Implementation Of Ship Position Motion Control Platform

In recent years, with the rapid development of shipping industry, the simulation research of ship motion control is becoming more and more important. In order to reduce the high cost of real ship tests as well as the long development cycle ills, also to a variety of algorithm in ship motion control for fast simulation, the position of ship motion control platform is designed in this issue, which can simulate different state of motion on a ship at sea level.First of all, the hardware design and connection of semi-physical simulation platform is completed in this issue. The IPC generates a PWM control signal to the stepper motor drive mechanism to drive the track layer laminated to each other to move. Its state of motion can be responded to IPC through the laser rangefinder in real time so that the closed-loop stepper motor control can be finished.In order to obtain the perfect control information to run the simulation platform, a mathematical model of ship and the Long-crested wave model are established in this paper, according to real ship parameters and specific wave data. Then, the simulation is progressed in the pure simulation environment. Besides, the results of the rotary ship model experiment, Z-test and the response, which ship effecting on waves, should be analysed to test and verify whether the model is suitable or not. At last, the model is added to the control program to make the semi-physical simulation platform to move in accordance with the model data.The Interface Control Software based on Visual C++6.0under the Windows XP system which RTX expanding is designed in this issue, according to the laboratory hardware conditions and the function of the Simulation Platform. What’s more, the Interface Control Software is also friendly made under the premise to meet the simulation accuracy. The platform test program, platform initialization program, stepper motor control program, laser ranging control program, the ship and the sea level layer real-time control program and a drawing program are included in this system software.From the experimental results, not only have the mathematical model of the ship and the Long-crested wave model reached the accuracy requirements of semi-physical simulation platform in this design, but also ships layer have completed moving under the interference of waves layer. So the platform can be used as a special platform for algorithm validation and simulation design.