Ship cruise simulation method, computer readable storage medium and terminal device

Abstract

The invention provides a ship cruise simulation method, a computer readable storage medium and a terminal device. The method includes the following steps that: a target ship is arranged in a preset virtual simulation environment, and a PID controller corresponding to the target ship is established; the heading error and the change rate thereof of the target ship in the virtual simulation environment are acquired so as to be adopted as the input of a preset fuzzy controller, the fuzzy controller performs fuzzy calculation to obtain the adjustment value deltaKp of a proportional coefficient KP corresponding to the PID controller, the adjustment value deltaKI of an integral coefficient KI corresponding to the PID controller, and the adjustment value deltaKD of a differential coefficient KD corresponding to the PID controller; and the proportional coefficient, the integral coefficient and the differential coefficient are adjusted according to the obtained adjustment values; and the targetship is controlled through the PID controller of which the proportional coefficient, the integral coefficient and the differential coefficient are adjusted. According to the ship cruise simulation method, the computer readable storage medium and the terminal device of the invention, PID parameters are adjusted dynamically in real time through fuzzy reasoning, so that the real-time performance andaccuracy of a ship heading control system can be improved.

Description

technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a ship cruising simulation method, a computer-readable storage medium and terminal equipment. Background technique [0002] The ship's automatic cruise control system is the basis for automatic navigation in the virtual environment. The current ship's automatic cruise in the simulation system environment does not use a control system. It only uses a simple course offset instead of following a dynamic fixed trajectory In the simulation, there are problems such as poor control accuracy, trajectory distortion, and inability to automatically avoid obstacles. However, when multiple ships are cruising, using the existing course offset method will frequently cause ship collision problems, and obstacles cannot be avoided automatically. However, the use of the existing fixed trajectory navigation method lacks a theoretical basis for dynamics, and the navigation trajectory d...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a ship cruising simulation method, a computer-readable storage medium and a terminal device to solve the problem of poor simulation effect of ship automatic cruising in the prior art

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