Research On Virtual Reality Based Simulation For Ship Maneuvering And Control

Virtual reality technology is applied in this article. Visualization of the ship maneuvering and ship motion control was systematically studied. In this paper, author combines the virtual reality technology with ship maneuvering and control simulation. It carries out three dimensional visual simulation of ship maneuvering by using virtual reality simulation technology. We can observe the process of ship maneuvering motion more clearly and more intuitively.Firstly, based on MMG separation type model this paper establishes a three-degree of freedom motion equations of the ship. The fluid forces and moments acting on hull, propeller, rudder and the interference among them are considered separately. Considering that some natural factors of uncertainty will affect the actual operation of the vessel, we also establish wind, flow disturbance model of force and torque.Secondly, on the basis of the model, ship course controller has been studied and linear ADRC has been designed. Ship is a complicated time-varying and nonlinear coupling controlled object. Linear ADRC can realize control in unknown specific mathematical model of control object. It can get quick response and high control precision. The simulation results show that linear ADRC has a good adaptability and robustness for uncertain interference factors of controlled object. It can obtain better control effect.Finally, virtual reality technology is applied to implement the visualization of ship maneuvering motion process simulation. In the platform of Windows XP, matlab is used to calculate changes of the ship parameters such as running speed, course, rudder angle. Ship movement parameters are obtained by Vega API. Then system sets the ship position in virtual ocean environment, realize visual simulation of ship maneuvering motion. The paper introduces the force feedback device in detail and explains the system implementation process. Based on functional requirements, we use force feedback devices PHANTOM Desktop to simulate manual steering process.