The Design And Research On The Marine Physical Rotating Platform And Adaptive Autopilot

The hending control is the most essential motion controls of the vessel. when the vessel is navigating,it's motion characteristics will changed by many factors at any time,such as speed,water,depth, load and draft. At the meantime,the heading of vessel will influenced due to the disturbance which caused by the changes of Sea state,such as wind,wave and current.Based on the of labrotary construction "12·5" plan of DLMU,the issue is designed to complete a autopilot system and a matched semi-physical simulation platform.The auto-steering part is mainly used industrial personnel computer, data acquisition card and other hardwares, model reference adaptive control algorithm will be discrete via IPC, and finally programmed to complete the adaptive steering function. When the conditions for navigation uncertain or mutative over time, and then the controlled system (hull) and the disturbance of the mathematical model parameters will also changed by wind,current,speed and so on randomly. Adaptive autopilot can real time make out the parameters and structure of ship manoeuvrability model, and thereupon control the performance so as to maintain this optimal, via measuring and in accordance with the current state of the external continuous informations of controlled system (hull),such as the heading, rudder angle, speed, etc.The Hybrid Simulation System for Ship's Motion part mainly consists of ship manoeuvrability mathematical model and wind-current disturbance model. The mathematical model will be discrete via IPC, and then will programmed to carry out. we simulate the motional status of the actual ship by means of designing a ship manoeuvrability semi-physical simulation system,which can be formed by PLC combined with the frequency converter,motor and rotating platform.