Design and Experimental Testing of a Free-Running Ship Motion Control Platform

In recent years, ship motion control has been used in unmanned merchant ships. It is a key issue in the sailing performance and navigation cost of unmanned vessels. The merchant ship trajectory and attitude are always generated from the response mechanism for ship motion, which uses one rudder and one propeller as the actuator. Therefore, it is a typical underactuated ship. However, there is not a specialized control test platform for unmanned merchant ships, in particular container ships. A precise merchant ship motion control platform is crucial; its computing power and motion attitude monitoring are difficult to solve by shipborne computers. To solve this problem, a new free-running ship motion control platform is proposed, which realizes ship attitude monitoring and various motion control experiments. The proposed platform is novel as it embeds ship motion parameters and control parameters in the ship motion model, which successfully solves the precise control of the ship motion control experiment with linear or nonlinear dynamics. In this paper, the design scheme of the ship motion control platform is first presented. Then, the operating principle of the platform is shown, and the adaptive model of the ship plane motion is selected. A series of freerunning model experiments and simulations is conducted to test performance of the new platform. To this end, the proposed platform can meet the requirements.