Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship

Abstract

The invention provides a model ship based autonomous navigation control simulation system and method of an under-actuated unmanned ship. The whole system is arranged on a model ship, and the model ship is arranged in a simulated navigation channel; the system comprises an environment sensing sub system, a path programming sub system and a motion control sub system; the environment sensing sub system collects the navigation state of the model ship and simulates environment factor information; according to the navigation state of the model ship and the simulated environment factor information, the path programming sub system carries out navigation programming to obtain the tracking route, the set speed and the set course; and the motion control system combines a course tracking model, a path tracking model, the route deviation, the course deviation and the speed deviation to calculate the rudder angle and propeller rotating speed instruction needed in next navigation of the model ship and control a steering engine and a propeller. According to the invention, simulation experiments are carried out on the model ship, an instance is provided for operation and control experiments of large ships, important guarantee is provided for safe navigation of large ships in inland rivers, and the system reduces the difficult and cost of experiments of the large ships.

Description

technical field [0001] The invention relates to the technical field of ship navigation control, in particular to a simulation system and method for autonomous navigation control of an underactuated unmanned ship based on a model ship. Background technique [0002] With the continuous development of the social economy, the number of ships and the transportation volume are increasing, and the issues of navigation safety and energy saving of ships have received more and more attention. With the development of ship's integrated bridge system, automatic navigation system and other technologies, the level of ship intelligence has been continuously improved, and unmanned ships have become an inevitable trend of future ship development. Unmanned ships can effectively reduce labor costs, reduce the probability of ship accidents, and improve ship operation efficiency. [0003] Autonomous navigation technology is an important guarantee for the realization of unmanned ships. The auton...

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Problems solved by technology

[0005] In order to solve the problem that it is difficult to directly conduct control experiments on large ships, the present inven

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