Research And Implementation Of Ship Maneuvering Obstacle Avoidance Simulation Training System In River Bridge And Bending Waters

With the rapid development of China's economy,the volume of river navigation has increased in recent years,and the ship's navigation density is increasing.As a result,the navigation environment of river ships becomes more and more severe,which requires a higher driving ability of the crew.However,due to the limited number of large ship model simulation equipment,the time and opportunity for crew simulation training is insufficient.Therefore,there is an urgent need for a more universal system that can realize the ship maneuvering simulation function on a personal computer,as a supplementary means for the training function of the large ship simulator.Based on the above requirements,this thesis proposes a ship driving simulation training system for typical scenarios such as river bridges and bendings,which is used to focus on improving the maneuvering ability of the crew to cope with complex navigation environments.The main research work of this thesis is as follows:(1)This thesis studies the mathematical model of ship motion,analyzes the hydrodynamic coefficient that affects the results of turning experiment of ship's motion mathematical model,proposes and verifies the ship parameter adjustment method based on error feedback and differential evolution algorithm.Considering the effects of wind and water and shallow water,this thesis also establishes a mathematical model of motion for river ships,which provides more accurate information on ship motion status for ship maneuver simulation training system.(2)Based on the mathematical model of river ship motion,this thesis analyzes the safety distance of bridge area waters and the safety distance between ship and bridge.In view of the channel characteristics and navigation characteristics of the waters in river bridge area,this thesis establishes ship control model in the waters of river bridge area,which provides the theoretical basis for simulation training of ship control in the waters of river bridge area.(3)In view of the characteristics of complicated navigation environment,restricted channel and difficulty in avoiding and giving way in river bending waters,this thesis proposes a ship manipulation model in the bending waters based on the virtual AtoNs,taking the safe passage of ships through the bending waters,the actual turning angle,the restricted distance between turning points and the size of ships as constraints.In this thesis,the differential evolution algorithm is used to solve ship maneuvering model in river bending waters,which provides a theoretical basis for the simulation training of ship maneuvering in river bending waters of this system.(4)Based on the key technologies such as.NET MVC framework,Windows graphical interface development framework and database,this thesis designs and implements the simulation and training system for ship obstacle avoidance in river bridge and corner waters.