无人船运动模型建立及仿真实验

Establishment of Unmanned Ship Motion Model and Simulation Experiments

摘要: 船舶运动数学模型是船舶运动仿真和控制的核心。当前，船舶运动数学模型主要分为整体结构模型与分离结构模型。本文采用分离结构模型研究船舶回转运动，选取实船作为测试模型目标，利用MATLAB中的Simulink模型在软件中建立了运动模型，进行仿真，得到船舶运动参数。研究成果为无人船实际应用提供技术支持和理论指导，为船舶运动控制和仿真研究提供新思路。

Abstract: The mathematical model of ship motion is the core of ship motion simulation and control. Currently, mathematical models of ship motion are mainly divided into integral structural models and separated structural models. This article uses a separated structure model to study the ship’s turning motion, with a 13,000 T bulk carrier as the test model target. A motion model is established in the software using Simulink in MATLAB for simulation, and the ship’s motion parameters are obtained. The research results provide technical support and theoretical guidance for the practical application of unmanned ships, and offer new ideas for ship motion control and simulation research.