The Research Of Ship Heading Dynamic Sliding Variable Structure Control System

With the rapid development of information technology and electronic technologyand the wide application of computer technology, the computer simulation technologymore and more widespread concern. With the increasingly busy port and shippingindustry, more and more economy of ship and safety requirements, the important issueis study and design of high-precision ship course control system for today. Autopilotplays an important role in ship course control system. in this text, designed the shipcontrol system that include the steering gear characteristics and also condsider theoutside interference, and then research a ship course control algorithm, and finally usethe above model to the actual semi-physical simulation platform for real-time test.Firstly, according to the ship theory, I have design the model of wind, waves andinterfere,and then study the wind and irregular wave in a simulation method based onthe theory of spectral. Secondly, based on real ship characteristics of T and K, andaccording to the development of autopilot, I have designed the type of PD autopilot andPID autopilot, then simultation the last state. the simulation results show that, when thenavigation of the ship speed change, the traditional PID control strategy can notguarantee that the stability of the ship in accordance with a predetermined routenavigation, and even unable to meet the system, the traditional control method can notbe adaptive to meet the requirements of ship control. According to the above problems,design a control system that based on the steering gear features and ship motion modelprinciple, and then linearization of nonlinear systems in order to meet the standard formto easy to design the controller. then use the dynamic sliding theory to research thedynamic sliding variable structure controller, at last, use the matlab simulation platformto test the above design. The test results show that the controller is not anly fast,stability and robustness, and effective inhibition of the buffeting. Finally, use theAdvantech IPC, DSP controller, data acquisition cards and other hardware equipment tomade a real-time simulation platform in the nvironment of the MATLAB/RTW, and alsouse the iFIX Software to establish a host computer and CAN bus to communicate, andultimately the ship automatically the rudder system is running real-time monitoring ofthe situation. On the semi-physical simulation platform we have realized the real-timemonitoring of the autopilot system.The research of this paper is considered as the basis for the test of practical cabin system. And more important, a comparative new algorithm for marine diesel speedcontrol is proposed. This research for marine diesel speed controller would no doubtprovide theoretical as well as technological support for the later studies, which canshorten the development cycle, and play a positive role for the diesel electronic controltechnology.