Study On Simulation Of Ship Automatic Control Based On ECDIS

Along with the development of the times, the technology for unmanned surface vehicles and unmanned aerial vehicle emerge as the times require, which has become a research hotspot at home and abroad because it has an extensive application prospect in ocean monitoring, operation, safety, etc. The ship automatic berthing technology is the most complicated and also the most important part of control process, and its utility value is extremely high. In recent years, the scholars put forward many control algorithms, such as PID control, neural network control, multimodal human-simulated intelligent control and hybrid control, etc. The stability and control efficiency of the control law which is designed according to these algorithms are mostly verified by simulation through Matlab and Simulink tools and based on ship response model or simplified Nomoto model. It turns out that the shorter time of the ship model from initial state to a stable state, the result of the control law is the better. Based on this, the paper adopts the method combining MMG ship motion model and the existing algorithm of control law, to carry out ship automatic berthing simulation research.In this paper, we apply the ship track keeping control algorithm of the underactuated ship input-output linearization,and the estabilished MMG ship motion model and then calculate command rudder angle by inputting ship position coordinates, heading and steering angular velocity in control law; Transmit the rudder angle as input to the MMG ship motion model and acquire new ship’s position, course, steering angular velocity through the calculation of the model, and then make loop caculations through these variables as input of the control law; Finally, dynamic simulation of ship automatic berthing is carried out on the electronic chart simulator.This paper’s main work includes:1. Establish the multi-loading ship maneuvering motion mathematical model.2. Use C++programing to carry out based on the application of Simulink on the selected control law to conduct debug verification.3. Apply Nomoto parameter determination method for ship maneuvering index K、 T according to the real-ship test data of Z-model, and then plug them in Nomoto equation of ship Z-model simulation,verify the validity of the index K、T, determine the selected control law of the ship.4. Connect the MMG ship motion model and the controller program by the server interface, and finally realize automatic docking simulation of ship motion model along the route on the electronic chart simulator.