Maneuvering In Waves And Its Control System

Since the boom of the world trade had promoted the development of the shipping industry, the shipping line became more and more crowded, thus the maneuverability of ship had attracted a lot of people's interest, especially the maneuverability in waves, which had always been a focus of the researcher of ship performances. Based on the basic theories and research method of ship maneuvering, the author had done some meaningful innovative work with the topic of numerical simulation and experimental investigations.Numerical simulation was carried out with the MMG model. The wave force and control module had been added to the formulation of MMG. The first order wave force was calculated by the author's program. The program can calculate the wet profile of the ship in real time, after that, the wave force can be obtained by press integration. The second order wave force was calculated by the BV's software'HydorSTAR'. Then, the value of the second order wave force had been packaged into a database, which can be accessed by the main calculation program of MMG. The variable parametric PID and adaptive control had been applied in the control scheme of the numerical simulation of ship oblique running test in waves. Furthermore, the author had done a comparison of this two control means by statistics methods.The experimental research of maneuvering in waves was focused in two issues. The first one is the R&D of the experiment device. The second is the test in still water verification. The author had detailed the system composition and key technology of FRT(Free Running Test). The experiment result of turning test, zig-zag test was validated by the numerical simulation. Some other experiment's results had been carried out too. Such as pull out test, spiral test, cash stop test. Turning test in waves had also been carried out by this apparatus and validated by the numerical simulation. Based on the FRT system, the author also developed an stabilizer test device with the technology of FPGA. The control system was developed by the software QuartusII. The hardware control program was developed by VHDL. Furthermore the author had designed the schematic wiring diagram and PCB by ProtelDXP. The PCB had been manufactured at last. Some relevant validation and verification had been done toward the hardware system.