新型船舶运动控制平台及海上试验

研制出一艘以水动力学相似准则缩尺的无人驾驶遥控模型船，模型船装有PC／104为主控计算机的船舶控制器，模型船由岸上主PC机遥控，用Honeywell公司的HMR3000碰罗经测量航导，用差分GPS系统定位，自主控制和推进，该遥控篡自治船舶运动控制已经进行了两次海上试验并取得成功，本文介绍该平台的系统设计，控制系统硬件和软件和海上试验经。

A New Ship Control Testbed and Its Sea Trials

Ship control is an interesting research subject, for both commercial ships and navy ships. For navy ships, an accurate tracking control can make the weapon aboard more powerful. For commercial ships, an accurate tracking control can improve the ship motion performance to save energy. For these pruposes we have developed a new ship control testbed to test the performance of a ship controller. A model ship of an 80000 tons tanker is built. which is remotely controlled by a PC on shore and is self propelled by DC motors. On the model ship, 5 direct current motors are used for driving the propeller, the side thrust on the ship head, the side thrust on the ship tail, and the two air thrusts used for generating disturbances, respectively. 3 stepping motors are used for driving the rudder, and controlling angles of the two air thrusts, respectively, A PC/104 computer served as a central control unit for ship controller is mounted on the model ship. A magnetic compass made by Honeywell Company and a DGPS system are used to measure the heading and position of the model ship respectively. The remotely controlled and autonomous model ship is tested on the sea near Dalian Maritime University and satisfactory results are obtained. This paper introduces the whole system design, hardware,software, and the sea trial results. Three patterns of sea trials are conducted which are the Zigzag test, the course keeping test and the turning test with a constant rudder angle. The test results are analysed using Matlab language and are given by a form of relation curves in the paper.