中文摘要：

为了方便科研人员进行船舶运动控制算法研究,采用Visual Basic 6.0开发了一套基于Norrbin六自由度非线性船舶运动数学模型的船舶自动舵控制算法仿真测试平台。该平台提供了标准的输入、输出数据接口,用户据此编写航向保持控制算法,不限编程语言和控制算法类型。大量的航海计算、船舶运动数学模型、海况干扰、海图显示、曲线显示、航线规划、报警等程序由测试平台给出。测试结果可与内设算法进行比较,并以简易海图、数字、曲线、综合性能指标的形式显示。以自行设计的航向保持PD控制器作为外接控制器对本系统进行测试,结果令人满意。本测试平台具有界面友好、简洁易用、成本低廉的优点。

英文摘要：

A simulation platform for testing marine autopilot control algorithm is developed based on the six-degree-of-freedom non-linear ship motion mathematical model proposed by Norrbin.This platform,developed with Visual Basic 6.0,has a number of standard data interfaces for inputs/outputs,with which the design of the external course-keeping controller becomes free of the limitations of programming language and algorithm types.The platform itself generates computing programs for navigation calculations,ship motion mathematical modeling,environment disturbances,simple electronic charts,curve drawing,route planning,alarm etc..Test results of the external control algorithms are displayed in the forms of tracks on map,numbers and the performance index in comparison with the internal reference controllers.The tests of the system have been conducted with an external PD course-keeping controller and a satisfactory result obtained.This platform has the advantages of friendly interface,low cost and easy operation.