Prototyping and Simulation Environment of Ship Motion Control System

ABSTRACT: Authors of this paper describe the test-bench used for ship motion control system prototyping. This tool is built with the PC-type hardware and the Matlab-Simulink software. The scale model of the VLCC tanker was chosen as a control object. This model is used on a lake as a shiphandling training vessel. The complex, nonlinear mathematical model of this training vessel was used in the test-bench simulations. Authors describe two types of them: the non-real-time (software) and the real-time (harware-in-the-lop) one. As an example of usability, results of the MIMO LMI controller tests of the ship velocities in 3DOF were shown.

KEYWORDS: Control System, Multiple Input, Multiple Output (MIMO), Simulation, Degrees-of-Freedom (DOF), Very Large Crude Carrier (VLCC), Matlab-Simulink, High Precision Network (HPN), HIL Controller

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Citation note:

Rybczak M., Rak A.: Prototyping and Simulation Environment of Ship Motion Control System. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 14, No. 2, doi:10.12716/1001.14.02.13, pp. 367-374, 2020

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