Design And Application Of Unmanned Ship Motion Control System Based On LabVIEW

For the problems of the typical ship course keeping,automatic berthing and track keeping control during the unmanned surface ship motion,this paper takes "Design and Application of Unmanned Ship Motion Control System Based on Lab VIEW" as the selected topic.Considering the requirements of navigation practice fully,the motion control theory is combined with the unmanned ship motion control platform to design the control platform,which provides theoretical reference and technical support for the research on the unmanned surface ship motion control.Firstly,two international standard ship models KVLCC1(KRISO Very Large Crude Oil Carrier 1)and KCS(KRISO Container Ship)are designed and built.Then,the software and hardware systems for the surface unmanned ship and the remote control platform are designed.Based on this platform,a cycle test was carried out and an analysis method of ship’s cycle performance and cycle roll change under the perturbation of Metacentric Height(GM)using self-propelled model was proposed,so as to obtain GM perturbation and cycle advance.The effectiveness of the platform is verified by the regression formulas of diameter and heel angle.In addition,it provides a reference for the safety of the real ship during the rotation.Secondly,in order to solve the problem that the advanced control theory is difficult to be directly applied in actual engineering,a concise nonlinear robust control algorithm is used to design the ship course keeping controller,in which the controller parameters are designed using closed-loop gain shaping technology,the ship-shore distance is used as the error-driven term to design the ship’s automatic berthing fuzzy controller,which can realize the parallel berthing of the ship that is easy to implement.The ship model’s trajectory tracking concise and robust controller is designed by utilizing the LOS navigation algorithm and nonlinear feedback technology.Finally,the international standard ship model design test is used to verify the effectiveness of the designed method.The research has important practical significance for promoting the development of unmanned surface ships,and provides important technical support for the construction of low-carbon,energy-saving,environmentally friendly and safe marine transportation.