Design And Research Of Autonomous Navigation Simulation System For Hybrid Ship

In the context of carbon neutralization,hybrid power system can be adopted for ships to reduce carbon emissions by improving fuel economy.Efficient energy management technology and intelligent algorithms can be adopted by intelligent ships to optimize the best navigation path,and minimize the total consumption cost and reduce carbon emissions further.Thise thesis mainly focuses on the under drive control and efficient energy management of autonomous navigation ships.The main contents are as follows:(1)Establishment of mathematical model of autonomous ship maneuvering.An underactuated 3-DOF ship maneuverability model is introduced.The hydrodynamic derivatives and model parameters of ship maneuverability are calculated according to the prototype ship.Then,in order to simulate the real environment,the environmental interference is designed.Finally,in order to verify the accuracy and stability of the ship maneuverability model,the ship maneuverability simulation test is carried out.(2)Autonomous navigation ship path planning and design.Grid the electronic chart of the Gulf of Mexico and design the global path planning based on the improved a ~* algorithm.The algorithm can search the best path and effectively avoid obstacles.The improved artificial potential field method is used to plan and design the local path of ships crossing the Strait.The simulation results show that the designed algorithm can avoid obstacles in real time and effectively.(3)Trajectory tracking control design of autonomous navigation ship.Aiming at the characteristics of under actuated ship trajectory tracking control system,such as nonlinearity,large inertia,time delay,local linear uncontrollability,etc.,combined with extended Kalman filter and sequential quadratic programming algorithm,a ship trajectory tracking control strategy based on nonlinear model predictive control is designed.At the same time,a reference track with certain complexity is designed to test various working conditions and switching conditions of the ship.The effectiveness of the designed trajectory tracking controller is verified by a simulation test on a monitoring ship.(4)Speed planning and hybrid power system energy management strategy design.The corresponding speed planning is made according to the ship speed limit regulations,and the speed control is carried out in the process of ship starting,braking and collision avoidance.After that,the operation mode of the marine hybrid power system is designed.Finally,the design is based on the ship energy management strategy based on the determined rules,and the test simulation is carried out in combination with the designed operating conditions.The results show that compared with the traditional diesel engine propulsion system,the total fuel consumption is reduced by 23.82%.This paper deeply studies the underactuated maneuverability model establishment,path planning,trajectory tracking control,speed planning and energy management strategies of hybrid autonomous navigation ship,which has certain academic value and engineering application significance.