Study On The Maneuvering Motion Of Unmanned Composite Trimaran With Certain Preventing Collisions Function

As the production of information technology knowledge extending to marine areas,unmanned surface vessel is getting more and more attention to researchers at home andabroad. At the same time, the research and development of high performance compositeship has become a new topic for high performance of ship designers in different countries.In view of this, this paper designed a composite trimaran model which was installed thehydrofoil on the main hull and side hulls, completed the selection design of ship hulls andthe installation design of its propulsion system and maneuverable system. Choosing aprogrammable automatic controller for the core controller of unmanned intelligent controlsystem, this paper carried out the maneuvering test, autonomous navigation test andintelligent collision avoidance test of unmanned composite trimaran model.(1) Based on the MMG model, this paper perfected the equations of ship maneuveringmotion and solved numerically the equations with using Runge-Kutta method. With VisualBasic2008programming language and combining the class and module, this paperdesigned a maneuvering motion simulation platform for the unmanned composite trimaranmodel. The contrastive analysis was made with simulation results and test data in order toverify the reliability of the simulation platform.(2) This paper established the fuzzy control rules of autonomous navigation andintelligent collision avoidance for USV, which selected the target heading and obstacledistance as input variables, and the speed and rudder angle of USV as output variables. Theinformative fuzzy control execution table was got by the ship model test and simulations ofits autonomous navigation and intelligent collision avoidance, which provides a referencefor designing the intelligent autonomous control system of USV.(3) According to a variety of test scheme with combining initial speed, rudder angleand aspect ratio of rudder, this paper carried out the rotary motion test and Z-maneuvermotion test of composite trimaran model, then measured the test data of ship model motionsuch as turning diameter, ship’s head angle, angular velocity of rotation, navigationtrajectory and so on.(4) With the chaotic genetic optimization algorithm, this paper compiled a set systemidentification method to analyze the mathematical model of the composite trimaranmaneuvering motion. This paper set three objective functions and got the corresponding parameters of the objective functions. The reliability of the system identification methodswas confirmed by comparing the recognition results with test data. This paper was thefurther analysis to discuss the initial speed, rudder angle and aspect ratio of rudder on shipmodel maneuvering performance from two aspects including the rotary motion and theZ-maneuver motion. Then this paper determined the relational expression between threefactors and the relative turning diameter, and gave some suggestion to manipulation designof composite trimaran.