不同海情下的大型船舶航向、航迹控制方法研究

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1、不同海情下的人犁船舶航向、航迹控制方法研究ABSTRACTWiththerapiddevelopmentofworldtrade，porttransportationsarealsoincreasedveryquickly,thenumber,sizeandtonnageofshipsarechangedwithit．Therearealotofshipsinharbourandneararea，itmakestheshipnavigation’Sdensityincreasedandharbour’Senvironmentmakesmoredangerousandc

2、ongested．Shipswastelotsoftimeonenteringanddepartingtheharbour．Soitisimportanttoimprovethemaneuverabilityofshipsforreducetheaccidents．Theautopilotthatusedforshipcontrolsisessentiallyimportantequipmentinshippingmaneuvering．Inourcountry,shipsmountthePIDautopilotbroadly,whichhascoursecontro

3、lfunction．TherearelotsofdisadvantagesinPIDautopilot，justbecausecomplexityofshippingandlimitationofPIDcontroller．ConsideringtheabovesituationtheheadingcontrollerandthetrackcontrollerbasedonGeneticAlgorithmwerebroughtforward．Thisthesisestablishedthethreeunrestrictedmotionmathematicalmodel

4、oflargeshipsbasedontheMMGseparationformula,whichdiscussedandanalyzedthehydrodynamicforcesandmomentsofthemodel，propellerthrustandpropellertorque，thehydrodynamicforcesandmomentsactedontherudderandinterferentialforcesandmomentsproducedbywind，waveandcurrent．Themovementcharacteristicsoflarge

5、shipsandtheaffectofwinds，wavesandcurrentswereconsideredadequatelyinthismodel．ThenappliedthestandardRunge．KuttamethodtocalculatetheequationofmaneuveringmathematicalmodelbyusingVisualCHprogramminglanguageandMATLAB7．0．Basedonthiswork,thesimulationofturningmovementinthestillwaterandthedistu

6、rbofwind，waveandcurrentshadbeenmade．Next，theheadingstabilityoflargeshipsWasdiscussed，andtheinstanceWasshownatlast·Consideringtheeffectonlargeshipsofwind，waveandcurrentindifferentoceancondition，designedtheheadingcontrollerandthetrackcontrollerbycombiningtheGeneticAlgorithmandcontroltheor

7、yofPID，andaccomplishedtheheadingcontrolsimulationandthetrackcontrolsimulationbyusingthismethod．哈尔滨丁程大学硕十学何论文Theanalysisofsimulationresultsshowedthat，theestablishedmotionmathematicalmodeloflargeshipsofthreedegreesoffreedomwascorrectandpractical，thedesignedheadingcontrollerandthe