【摘要】 基于船舶水面运动的一阶Nomoto船舶运动模型,考虑风、浪、流等环境因素对船舶航向角的影响,建立以船舶液压舵机为中心的船舶自动舵系统的数学模型.在此基础上开发物理-数字混合仿真自动舵系统模拟器.该模拟器具备实船舵机系统全部操作功能,并模拟轮机工作场景,动态显示操作过程,可用于船舶航迹控制研究及船员培训工作.更多还原

【Abstract】 Based on the first order Nomoto ship motion model, the paper established a mathematical model of the ship autopilot system centering on marine hydraulic steering gear considering the influence of wind,wave,flow and other environmental factors on ship course angle. The physical and digital hybrid simulation autopilot simulator is developed based on the mathematical model. The simulator has all of the operating functions of the ship steering system,it can also simulate the turbine engine working sceneries and display the operation process dynamically,which can be applicable to the ship track control research and crew training work.更多还原