基于SIHC仿真平台的船舶航向控制算法性能测试

为比较各种船舶控制算法的性能，利用船舶智能操控（Ship Intelligent Handling and Control，SIHC）仿真平台和MATLAB软件，分别从航向跟踪、航向保持两个方面对该平台集成的普通PID自动舵、模糊自 整定PID自动舵进行性能评判及控制性能测试.从测试结果可知，在航向保持方面，就一般船型而言，模糊自整定PID自动舵的性能优于普通PID自动舵；在航向跟踪方面，普通PID自动舵和模糊自整定PID自动舵的控制性能近乎一致，在某些环境或船型下，普通PID自动舵稍胜一筹.

Performance test of ship course control algorithm based on SIHC simulation platform

To compare performances of various ship control algorithms, using Ship Intelligent Handling and Control (SIHC) simulation platform and MATLAB software, the performance evaluation and the control performance test on the ordinary PID autopilot and the fuzzy self tuning PID autopilot integrated in the platform are implemented separately from the course tracking and the course keeping. The results show that in the course keeping, the fuzzy self tuning PID autopilot is better than the ordinary PID autopilot for most of ship types; in the course tracking, the performance of two autopilots is almost same, but under some environments or for some ship types, the ordinary PID autopilot is just a little better.