Research On Self-Propeller Ship Model Based On Attitude Control

During the course of navigation,the ship generates rocking motion due to its own motion and multiple environmental factors.The severe swing affects the performance of ships' s maneuverability and seakeeping performance.In this paper,the self-propelled ship model is designed based on the maneuverability and seakeeping performance,the PID controller is adopted here to achieve the attitude control of the self-propelled ship system.An in-depth study of the design as well as the attitude control of self-propelled ship model is accomplished.Firstly,the development of the self-propelled ship model as well as the researches of the fin-rudder joint control at home and abroad introduced.The advantages of the key technologies of the self-propelled ship model and the development trend of the fin-rudder joint control are analyzed.Secondly,the method of estimating the center of gravity and stability of the ship are given according to the principle of ship design.The estimation of the size of rudder,fin and propeller,the model selection are completed.The mathematical model of ship motion is established by analyzing the force of the ship.The mathematical model of ship motion is simplified as four-degree-of-freedom motion model,which is surge,swing,roll and yaw motion.The external forces are decomposed into hydrodynamic force,propulsion force,environmental disturbance force and control force.Then,the overall design of the self-propelled ship model system is accomplished.The self-propelled model system is divided into two subsystems: the ship-borne subsystem and the shore-based subsystem.The design and selection of the controller,propeller,steering gear module,attitude acquisition module,GPS module,energy module and wireless transmission module design are completed.Finally,the ship motion control model is established based on the mathematical models of each part of the hull.The fin-rudder PID controller is designed and the ride control system is established based on the ship motion control model and the designed fin-rudder controller.The simulation tests of ship turning and heading control are carried out to analyze the anti-rolling effect of ship ride control system.Meanwhile,the hardware-in-the-loop simulation system of the self-propelled ship model as well as the virtual ship hardware loop is established.The design of human-computer interaction interface is completed.The anti-rolling effect of the designed ship ride control system is further verified.The simulation results show that the PID controller designed can achieve attitude control effect.The anti-rolling effect of ship maneuverability simulation and hardware-in-the-loop simulation of ship control system can achieve a certain effect.