| A ship sailing in the sea, due to the disturbance of ocean environmental factors, such as wind, wave and current, will inevitably place a variety of swaying motion. It is well known that a lot of swaying motion brings adverse effects on the ship’s properties and performance. In all external disturbances, wave is the main cause of the ship swaying motion. Therefore, the study on wave interference on a ship has been paid more and more attention. In order to study the impact of wave on the ship attitude motion and facilitate the ship attitude motion control system design, we design a ship attitude motion control platform to simulate the ship attitude motion on the sea in the laboratory conditions. The ship attitude control platform is mainly used for the research on the ship attitude control, such as yaw, rolling, pitching and so on.The ship attitude control platform is a semi-physical simulation experiment device, consisting of four parts:a three dimensional structure of rotating machinery testing, two model computers, a hydraulic mechanism and some azimuth angle sensors, which is used to simulate the ship motions and the impacts on ship by wind, wave and current. Compared to the traditional computer simulation and the other simulation platforms, the advantage of this ship attitude control platform is that the platform is divided into the wave layer and the ship layer. What is more, due to the respective industrial control equipment and the model unable to disturb each other, the simulation results are more convincing.In this thesis, the wave layer of the control platform is completed to study ship’s attitude motions in the waves. Firstly, there is a brief introduction to the basic working principles and basic control flow of the platform from the control platform hardware components and each module features; Secondly, based on the Froude-Krylov Hypothesis and regarded the ship as a box, the mathematical model can be built which the disturbing moment of wave (the regular wave) acting on the ship; Finally, the platform’s hardware has been debugged and the platform control program has been designed in Turbo C++3.0, which enabling the wave layer to follow the description movement in accordance with MATLAB simulation results of the attitude response mathematical model. Thus, it can reach the interference of wave on the ship layer. When the control platform finished, it can play an important role in controller design and verification of the ship stabilization and other related algorithms. |
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