Research And Design Of Autopilot Based On Arm

With the constantly increasing maritime traffic density, together with the development of large-scale and high speed ship, the requirements of ship control system become higher and higher. Autopilot is one of very important shipping control equipment. It is directly related to the ship navigation safety and economy. The autopilot products in Chinese market are mostly come from Europe, the United States and other developed countries. Therefore, development of autopilot with independent intellectual property and high cost-effective has important significance to upgrade our technology level in this field.The ship motion control system is introduced through the consult home and abroad literature. The digital autopilot is developed on the base of Nomoto model for ship motion. The main research contents and results are as follows:1. The autopilot development status and several typical autopilot products are introduced.2. The mathematical model of ship motion, wind, wave, fluid, other interference, Nomoto model and ship motion control principle are introduced and investigated.3. The digital autopilot is developed based on ARM embedded system hardware architecture, and the modular design method is adapted. It has multiple operating modes, a variety of navigation equipment interfaces. Heading control or tracking control can be achieved.4. Nonlinear PID controller is designed for heading control. A nonlinear term is constructed on the base of traditional PID controller. It is effective to improve the frequent moving rudder problem in disturbance conditions.5. Finally, this thesis makes some conclusions, and presents some issues for future research.