CN107092199A - Ship motion controller emulation platform and ship motion controller method - Google Patents

Abstract

The invention discloses a ship motion control simulation platform, comprising a control module, a drive module, an attitude measurement module, a position determination module and a power supply module, the drive module is used to control the forward movement and steering of the motion platform; the attitude measurement module and the position determination module are It is used to measure the attitude and position data of the motion platform; the control module is configured with a track tracking algorithm and a deck motion model, and the control module obtains the attitude and position information of the motion platform from the attitude measurement module and the position determination module to perform track tracking calculations. Then according to the calculation results, the drive module will move according to the desired route, and at the same time simulate the deck movement of the ship in the waves. Further, a ship motion control method is also disclosed. Through the platform or method, the indirect control method that separates the heading control and the track control, the adjustment of the control parameters is simple, and the heading control algorithm and the track control algorithm can be modified separately.

Description

Ship motion control simulation platform and ship motion control method

technical field

The invention belongs to the technical field of ship motion control simulation, in particular to a ship motion control simulation platform and a ship motion control method.

Background technique

The movement of the ship on the sea will affect the landing accuracy of the aircraft. The attitude of the ship can be judged by pattern recognition, so as to choose the right time to land. In the study of aircraft landing, a ship motion simulation platform is essential. The design and simulation of the prototype system has a very wide application value, and can quickly verify the principle scheme of the design system. In order to test whether the design of the control system is reasonable and whether the control algorithm is effective, it is necessary to pass multiple water tests. Each experiment needs to synthesize the motion data of the ship, and then analyze and organize to obtain a comprehensive evaluation of the control performance, so as to compare the advantages and disadvantages of the control methods. Therefore, simulation is a necessary method to study ship motion control algorithm. Usually there are three kinds of simulation methods: computer simulation method, real ship test and semi-physical platform simulation.

The computer simulation method is low in cost and simple, and it is the most commonly used initial simulation method. It has good interactivity and can better simulate the movement of ships in sea waves. The accuracy of the sea state has a great relationship, so it can only be used as a preliminary means to verify various control methods. The real ship test has high reliability, but it is dangerous and costly, so it is generally used after the control method is verified by computer simulation and the feasibility is basically confirmed. Compared with the first two methods, the hardware-in-the-loop platform simulation has higher reliability, low cost and safety, and is widely used. However, there are few ship motion simulation platforms at present, and the control algorithm is complex, parameter adjustment is difficult, and the algorithm can be transplanted. Sex is not high.

Contents of the invention

In order to solve the problems in the prior art, the present invention proposes a ship motion control simulation platform and a ship motion control method with simple parameter adjustment, strong algorithm portability and low cost.

The ship motion control simulation platform disclosed by the present invention includes a control module, a drive module, an attitude measurement module, a position determination module and a power supply module, the drive module is used to control the forward movement and steering of the motion platform; the attitude measurement module and the position determination module are used Measure the attitude and position data of the motion platform; the control module is configured with a track tracking algorithm (including heading control and track control) and a deck motion model, and the control module obtains the attitude and position information of the motion platform from the attitude measurement module and the position determination module Finally, the track tracking calculation is carried out, and then according to the calculation result, the drive module will move according to the desired route, and can simulate the deck movement of the ship in the waves at the same time; the power supply module supplies power to each module of the motion platform; among them, the attitude measurement module and the position The determination modules are connected and communicated with the control module through the asynchronous serial communication interface; the tracking calculation of the track includes the tracking calculation of the heading and the track.

Further, the control module includes a course control unit and a track control unit, the track control unit receives the real-time position data sent by the position determination module, compares it with the expected track, and then outputs the expected course; the course control unit receives the output of the track control unit The desired heading and attitude determine the real-time attitude data sent by the module, calculate and output the control signal of the expected attitude, and then control the driving module to change the attitude of the motion platform. Specifically, the heading control unit receives the desired heading and the real-time attitude data sent by the attitude determination module, and outputs the rudder angle control signal of the motion platform after calculation, thereby controlling the steering gear of the motion platform to drive the rudder blades to change the attitude of the motion platform.

Further, heading control uses anti-saturation PID control.

Further, the track control uses the line-of-sight navigation method.

Further, the control module has a built-in attitude data interruption program and attitude data receiving program. When attitude data is sent to the control module, an interruption will be generated. After the attitude data interruption program recognizes the frame header of the attitude data frame, it will complete a frame The data is saved to the buffer. When a frame of data is received, the receiving flag will be set, waiting for the receiving program to read the data; the attitude data receiving program first reads the value of the receiving flag to ensure that a frame of data has been completely saved in the buffer area, and then read the data after verification; if you want to update the attitude data, just call the attitude data receiving program.

Further, the control module has a built-in position data interrupt program and a position data receiving program. When position data is sent to the control module, an interrupt will be generated. The position data interrupt program will save the data to the buffer. When a frame of program is received, the control The receiving program in the module will fetch the data into the corresponding variable; the position data receiving program first reads the value of the receiving flag, confirms that a frame of data has been completely stored in the buffer, and then reads the data after verification ; If you want to update the location data, just call the location data receiving program.

Further, the control module adopts the minimum system of MC9S12XS128MAA single-chip microcomputer.

Further, the attitude measurement module outputs the pitch angle, yaw angle, roll angle and height of the motion platform.

Further, the attitude measurement module can use the miniAHRS attitude module.

Further, the position determining module adopts WF-NEO-6M positioning chip.

Further, the drive module adopts a structure of one propeller and two rudders.

Further, the drive module includes a motor, a transmission shaft, a propeller, a remote controller, a steering gear, a pull rod and a rudder blade, wherein the remote controller is used to control the motor to move forward, backward, and stop; the motor rotates to drive the propeller through the transmission shaft; the rocker arm of the steering gear rotates The rudder blade is driven by the pull rod.

Further, the software part of the control module adopts a modular design, and each module has an independent underlying program, so as to ensure that the module function can be realized by calling the module subroutine separately during the control process.

Furthermore, the control module also has a built-in deck motion model. Through the control module, the wave modeling is carried out and various effective wave inclinations are obtained. The obtained effective wave inclinations are respectively input into the corresponding motion transfer function to calculate the deck attitude motion function, and then according to the attitude The attitude data fed back by the measurement module is calculated in combination with the deck attitude motion function, and the control signal is output to the drive module to control the attitude of the motion platform; among them, the deck motion includes roll motion, pitch motion, heave motion, and the effective wave inclination includes roll Significant wave inclination, pitch significant wave inclination, heave significant wave inclination, transfer function includes roll motion transfer function, pitch motion transfer function, heave motion transfer function.

The invention also discloses a ship motion control method, which separates the course control and track control, first receives the real-time position data of the ship, compares it with the expected track, and then outputs the expected course; then receives the output expected course and ship The real-time attitude data, calculate and output the control signal of the desired attitude; then change the motion attitude of the ship according to the control signal.

Further, heading control uses anti-saturation PID control method.

Further, the track control uses the line-of-sight navigation method.

Further, the ship includes a control module, a drive module, an attitude measurement module, and a position determination module. The drive module is used to control the forward movement and steering of the motion platform; the attitude measurement module and the position determination module are respectively used to measure the attitude and position of the motion platform Data; the control module includes a course control unit and a track control unit, which separates the course control and track control for indirect control. The track control unit receives the real-time position data sent by the position determination module, compares it with the expected track, and then outputs the expected course The course control unit receives the desired course output by the track control unit and the real-time attitude data sent by the attitude determination module, calculates and outputs the control signal of the expected attitude, and then controls the drive module to change the motion attitude of the ship.

Beneficial effect:

(1) The indirect control method that separates the course control and the track control, the control parameters are easy to adjust, and the course control algorithm and the track control algorithm can be modified separately. Among them, the heading control adopts anti-saturation PID control, which is convenient for debugging and avoids the system out of control caused by the saturation of the integrator; the track control adopts the line-of-sight navigation method, which does not depend on the kinematic model, requires few design parameters, and is easy to set parameters , Good convergence.

(2) The ship motion control simulation platform can be equipped with a track tracking algorithm (including tracking calculation of course and track) and a deck motion model. The user can input the motion track and wave parameters, and the motion platform will move according to the desired route. Simulate the deck movement of a ship in waves.

(3) The drive module includes a remote controller, which can manually control the forward, backward, and pause of the motion platform, so as to avoid hardware damage caused by the out-of-control motion platform during the algorithm debugging process.

(4) the software part of the present invention adopts modular design, each hardware module has independent bottom program, in the control process, as long as call this module subroutine, can realize module function, program structure is clear, portability is strong; Simultaneously It is also possible to debug each module separately, which is convenient for troubleshooting and chip replacement, thereby reducing the cost of the simulation platform; designers can also replace the algorithm of heading control and track control according to the needs, and carry out secondary development to further expand the simulation platform. Function.

Description of drawings

Fig. 1 is the emulation platform hardware structural diagram in the embodiment

Fig. 2 is the main program flowchart in the embodiment

Fig. 3 is the flow chart of the attitude data interruption program in the embodiment

Fig. 4 is the flow chart of attitude data receiving program in the embodiment

Fig. 5 is the flow chart of the location data interruption program in the embodiment

Fig. 6 is the flow chart of the location data receiving program in the embodiment

Fig. 7 is a block diagram of the track tracking control algorithm in the embodiment

Fig. 8 is the control block diagram of the anti-saturation PID algorithm in the heading control module in the embodiment

Fig. 9 is the geometric model when the desired track is from west to east in the track tracking algorithm in the embodiment

Fig. 10 is the geometric model when the desired track is from east to west in the track tracking algorithm in the embodiment

detailed description

As shown in Figure 1, an embodiment of a ship motion control simulation platform is disclosed. The ship motion control simulation platform is a "motion platform", "platform" or "hull", and the platform includes a power supply module, a drive module, and an attitude measurement module. , position determination module and control module, the power supply module provides the power supply for each chip of the motion platform and the drive module; the drive module controls the forward movement and steering of the motion platform; the attitude measurement module and the position determination module measure the attitude and position data of the motion platform; the control module As the core of this simulation platform, the attitude and position information of the motion platform is obtained, and then the track tracking calculation is performed, so as to control the steering of the rudder blade and achieve the effect of motion control.

Below in conjunction with specific embodiment and accompanying drawing, design scheme is described:

The control module described in the embodiment adopts the minimum system of MC9S12XS128MAA single-chip microcomputer, and the main program flow chart is as shown in Figure 2: the data sent by the attitude measurement module and the position determination module are received every 0.5 seconds, and the rudder angle control signal is calculated according to the track tracking algorithm, The PWM wave is output to the steering gear to drive the deflection of the rudder blades, thereby controlling the motion trajectory of the motion platform.

The attitude measurement module can use the miniAHRS attitude module, which is composed of STM32F103T8 (main control chip), MPU6050 (acceleration sensor), HMC5883L (three-axis geomagnetic sensor) and BMP180 (barometric altitude sensor), which can directly output the original measurement value of the sensor. Calculate the measured values of each sensor, and output the pitch angle, yaw angle, roll angle and height of the motion platform. The attitude measurement module communicates with the control module through an asynchronous serial communication interface.

An interrupt is generated when attitude data is sent to the control module. The flow chart of attitude data interrupt function is shown in Figure 3: after the program recognizes the frame header of the attitude data frame, it saves a complete frame of data to the buffer, and when a frame of data is received, it will set the receiving flag position (i.e. Assign the value of the flag bit to 1), and wait for the receiving program to read the data. In Fig. 3, oxa5 and ox5a represent the header of the data frame.

The flow chart of the attitude data receiving program is shown in Figure 4: the program first reads the value of the receiving flag, confirms that a frame of data has been completely stored in the buffer, and then reads the data after verification. In Figure 4, the A1 type data is the attitude data after solving, and the A2 type is the original measurement data of the sensor. They are sent in two kinds of frames, so they need to be analyzed separately. If you want to update the attitude data, just call the attitude data receiving program (because the attitude receiving function directly assigns the data in the buffer to the corresponding variable, calling it can update the value of the variable).

The position determination module adopts WF-NEO-6M positioning chip, and communicates with the control module through the asynchronous serial communication interface.

When there is position data (that is, position data representing latitude and longitude) sent to the control module, an interrupt will be generated. The flow chart of the location data interrupt function is shown in Figure 5: the program saves the data to the buffer, and when a frame of program is received, the receiving program in the control module will fetch the data into the corresponding variable.

The flow chart of the location data receiving program is shown in Figure 6: the program first reads the value of the receiving flag, confirms that a frame of data has been completely stored in the buffer, and then reads the data after verification. If you want to update the location data, just call the location data receiving program.

The power module includes two sets of 12V lithium batteries, which are composed of three 18650 lithium batteries in series. One set of protection boards has a current limit of 10A, which supplies power to the drive module alone; the other set of protection plates has a current limit of 5A, which supplies all chips and steering gear power supply.

The drive module adopts a single propeller and double rudder structure, including RS-550 high-speed motor, transmission shaft, propeller, remote control, steering gear, pull rod and rudder blade; among them, the motor rotates to drive the propeller through the transmission shaft; the remote control is connected between the motor and the power supply During this time, the motor can be controlled to move forward, backward, and stop through the remote control; the rocker arm of the steering gear rotates to drive the rudder blade through the pull rod.

In an embodiment, the control module includes a track control unit and a course control unit, and adopts an indirect control method that separates course control and track control. The control algorithm block diagram is shown in Figure 7: the track control unit receives the real-time position data sent by the position determination module, compares it with the expected trajectory, and then outputs the expected heading; the heading control unit receives the expected heading and the real-time attitude data sent by the attitude determination module, and calculates Finally, the rudder angle control signal is output to control the steering of the steering gear to drive the rudder blades to change the attitude of the motion platform.

It is worth noting that in the prior art, direct control is mostly used. The control module receives attitude and position data at the same time, and outputs the rudder angle control signal after calculation. Although the control can be more precise, it is difficult to adjust the parameters. In this method, the indirect control is relatively separated from the course control and the track control, and the control accuracy is basically not affected, but the parameter debugging is simpler.

In the embodiment, the heading control uses anti-saturation PID control, which avoids the oversaturation phenomenon of the integrator caused by the mechanical structure limitation.

The control block diagram of the anti-saturation PID algorithm in the heading control module is shown in Figure 8, where,

In the formula, θ _d is the desired heading, is the actual heading, ν is the unlimited rudder angle control signal, u represents the limited rudder angle control signal; in addition, in Fig. 8, t represents the time, K _p represents the proportional coefficient, K _i represents the integral coefficient, K _d represents the differential coefficient, and K _f represents the anti-saturation feedback gain.

When the output ν is too small, add the difference between u and ν (positive) to the integral control process to increase ν; when the output ν is too large, add the difference between u and ν (negative ) is added to the integral control process, at this time, the integral control is weakened, and the output ν becomes smaller; when the output ν is within a reasonable range, u and ν are equal, which is equivalent to ordinary PID control.

The track control uses the line-of-sight navigation method, which does not depend on the kinematic model, and the parameter debugging is simple, among which:

When the desired route is from west to east (as shown in Figure 9), the formula for calculating the heading angle is as follows:

θ(t)=α _k +arctan(e(t)/Δ)

When the desired route is from east to west (as shown in Figure 10), the formula for calculating the heading angle is as follows:

θ(t)=α _k -arctan(e(t)/Δ)+π

In Fig. 9 and Fig. 10: P _k to P _k+1 are desired routes. P(t) is the position of the hull, P _m (t) is the projection point from the position of the hull to the desired route, P _d (t) is the virtual tracking point, α _k is the angle between the desired route and the north, θ(t) is desired heading, e(t) is the distance between P(t) and P _m (t) (that is, the distance between the position of the motion platform and its projected point on the desired route), Δ is P _m ( The distance between t) and P _d (t) (that is, the distance between the projection point of the position of the motion platform on the desired route and the virtual tracking point is an adjustable parameter).

Among them, the calculation formula of α _k is as follows:

α _k ＝π/2-arctan(y _k+1 -y _k ,x _k+1 -x _k )

In the formula: x _k represents the longitude of the starting point of the desired trajectory, y _k represents the latitude of the starting point of the desired trajectory; x _k+1 represents the longitude of the target point of the desired trajectory; y _k+1 represents the latitude of the target point of the desired trajectory.

When the desired route is from west to east (as shown in Figure 9), the calculation formula of e(t) is as follows:

e(t)＝(x(t)-x _k )cosα _k -(y(t)-y _k )sinα _k

When the desired route is from east to west (as shown in Figure 10), the calculation formula of e(t) is as follows:

e(t)＝(x(t)-x _k+1 )cosα _k -(y(t)-y _k+1 )sinα _k

In the formula: x(t) represents the longitude of the location of the motion platform; y(t) represents the latitude of the location of the motion platform.

When setting the expected path, you need to input the expected path points, and the motion platform will move along the broken line formed by the points in sequence. When the motion platform sails through a broken line P _k P _k+1 , the control program will automatically switch the desired path to the next broken line P _{k+ 1} P _k+2 , and the path update principle is as follows:

[x(t)-x _k ] ² +[y(t)-y _k ] ² ≤ R ²

In the formula: R represents the distance between the position of the hull and the target track point, which is an adjustable parameter.

When the desired path is updated, the desired heading changes greatly, and a step response will appear, so a first-order inertial filter is added to smooth the desired heading obtained by the guidance algorithm. The smoothed heading is:

θ _d (t)=αθ(t)+(1-α)θ _d (t-1)

In the formula: θ _d (t) represents the smoothed desired heading; α represents the filter coefficient; θ(t) represents the desired heading calculated in the above line-of-sight navigation method; θ _d (t-1) represents the Smooth desired heading.

All calculation programs in the control module described in the embodiment can be written in c language, and of course can also be written in other languages.

The software part of the present invention adopts a modular design, and each hardware module has an independent bottom program. In the control process, as long as the module subroutine is called, the module function can be realized. The program structure is clear and the algorithm is convenient to modify. If you want to simulate other track tracking algorithms, you only need to modify the track tracking function (the indirect control method that separates the course control and track control in the control module is used in the embodiment, and the direct control method in the prior art can also be used. method), strong portability; at the same time, each module can be debugged separately, which is convenient for debugging, replacing chips, and saving costs.

The structure diagram of the main program is shown in Figure 2. Position data and attitude data are read every 0.5 seconds, and then calculated by the control algorithm to output steering gear control signals to control the rudder blades.

The subroutines of each module are introduced as follows:

① Clock part:

void INIT_PLL(void): The crystal oscillator frequency is 16MHz. The function of this function is to overclock the bus frequency to 32MHz.

②GPS part:

void INIT_SCI1(void): Initialize the serial port;

unsigned char change(unsigned char*a): The data type of the GPS chip is a symbol type, this function changes the symbol type into a corresponding number;

void Get_GPS(void): Take out GPS data from the buffer;

interrupt 21 void USART2_IRQHandler_GPS(void): GPS data receiving interrupt function;

unsigned char Sum_check_GPS(void): data verification;

void UART2_CommandRoute_GPS(void): The main function of GPS data reception, call this function to update GPS data.

③miniAHRS part:

void INIT_SCI0(void): Initialize the serial port;

void UART2_Get_IMU(void): get attitude data;

void UART2_Get_Motion(void): Get ADC data (that is, undecoded data);

void interrupt 20USART2_IRQHandler(void): Data receiving interrupt;

unsigned char Sum_check(void): data verification;

void UART2_CommandRoute(void): The main function for attitude data reception, call to update attitude data.

④Steering gear part:

void init_pwm(void): PWM signal initialization;

void rudder(void): According to the rudder angle signal of the control module, the steering gear is deflected by a certain angle.

⑤Control module part:

float atand(float x): Redefine the trigonometric function and operate in units of angle;

void control(void): heading and track control functions.

⑥PIT timing module:

void init_PIT(): PIT module initialization;

interrupt 66void PIT_INTER(void): The interrupt function called after each timing is over.

For example, when you need to update the attitude data of the motion platform, you don't need to call all the functions of the miniAHRS module, you only need to call the UART2_CommandRoute() function to complete the update of the attitude data; similarly, when you need to update the position data, you only need to Call UART2_CommandRoute_GPS().

The present invention can also simulate the deck motion of the ship according to the sea conditions specified by the user, including rolling motion, pitching motion, and sinking motion. The deck motion is modeled as follows:

Wave motion causes ship deck motion, so to simulate deck motion, wave modeling must be carried out first.

(1) Ocean wave modeling

Using the long-peak wave model, the long-peak random sea wave can be regarded as the superposition of countless cosine waves with different frequencies, different amplitudes, and different initial phases, without considering high-order harmonics, and a fixed-point wave model is studied When , the harmonic amplitude ξ can be expressed by the following formula:

In the formula: t represents time, ξ _i represents the amplitude of the i-th harmonic; ω _i represents the angular frequency of the i-th harmonic; ε _i represents the initial phase angle of the i-th harmonic (random uniform distributed).

The energy value of the corresponding frequency harmonic can be obtained by discretizing the wave spectrum. The wave spectrum uses the ITTC single-parameter spectrum. The empirical expression of the harmonic energy value S _ξ is as follows:

In the formula: ω represents the wave frequency; g represents the acceleration of gravity; h _1/3 represents the significant wave height.

The relationship between the harmonic energy value and the harmonic amplitude is as follows:

In the formula: ω _i represents the harmonic frequency; S _ξ (ω _i ) represents the harmonic energy value; ξ _i represents the harmonic amplitude.

From this the magnitude of the corresponding harmonic can be calculated.

The calculation of effective wave inclination includes rolling effective wave inclination α _φe , pitching effective wave inclination α _θe , heave effective wave inclination ξ _ze , and its calculation formula is as follows:

where β represents the encounter angle; ω _ei represents the ship encounter frequency, V is the ship speed; X _φ represents the roll significant wave inclination correction coefficient; X _θ represents the pitch significant wave inclination correction coefficient; X _z represents the sinking significant wave inclination correction coefficient.

(2) Deck motion modeling

Including rolling motion transfer function, pitching motion transfer function, ups and downs motion transfer function, the above effective wave inclination is taken as the system input, after the calculation of the transfer function, the output is the deck attitude motion function.

Among them, the effective wave inclination is the above-mentioned time-related formula. After the pull-type transformation, it becomes a formula with s. . Taking the significant wave inclination as the input of the transfer function, the multiplication of the two formulas can obtain the deck attitude motion function with s, and then perform the inverse pulling transformation to obtain the time-related function of the attitude angle. The deck motion attitude function is the function of the deck's attitude angle changing with time. The transfer function is as follows:

①Rolling motion transfer function:

where: ω _φ represents the natural angular frequency of the ship’s roll, J _φ represents the moment of inertia of roll; ΔJ _φ represents the additional moment of inertia of roll; D represents the displacement mass of the ship; h represents the height of the center of roll stability; ζ _φ represents the roll damping factor, which is related to the characteristics of the ship.

②Pitch motion transfer function

where: ω _θ represents the pitch natural angular frequency of the ship; J _θ represents the pitching moment of inertia; ΔJ _θ represents the additional pitching moment of inertia; ζ _θ represents the pitching damping factor, which is related to the characteristics of the ship itself.

③Ups and downs motion transfer function

where: ω _z represents the natural frequency of ship sinking and floating, λ _z represents the additional mass of sinking and floating; ρ represents the density of seawater; S _w represents the area of the water plane of the ship; ζ _z represents the damping factor of sinking and floating.

Although the embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative, instructive, and not restrictive . Under the enlightenment of this description, those skilled in the art can also make many forms without departing from the protection scope of the claims of the present invention, and these all belong to the protection of the present invention.

Claims (10)

1. a ship motion control simulation platform, is characterized in that, comprises control module, drive module, attitude measurement module, position determination module and power supply module, The drive module is used to control the forward movement and steering of the motion platform; The attitude measurement module and the position determination module are respectively used to measure the attitude and position data of the motion platform; The control module obtains the attitude and position information of the motion platform from the attitude measurement module and the position determination module, and then performs track tracking calculation, and then realizes motion control through the drive module according to the calculation result; The power module supplies power to each module of the motion platform; Wherein, the attitude measurement module and the position determination module are connected and communicated with the control module through the asynchronous serial communication interface; The control module includes a course control unit and a track control unit. The track control unit receives the real-time position data sent by the position determination module, compares it with the expected track, and then outputs the expected course; the course control unit receives the expected course output by the track control unit and the real-time attitude data sent by the attitude determination module, calculate and output the control signal of the desired attitude, and then control the drive module to change the attitude of the motion platform; Track tracking calculation includes heading and track tracking calculation. 2. The ship motion control simulation platform according to claim 1, characterized in that: heading control uses an anti-saturation PID control method. 3. The ship motion control simulation platform according to claim 1, characterized in that: the track control uses the line-of-sight navigation method. 4. The ship motion control simulation platform according to claim 1, characterized in that: the control module has a built-in attitude data interrupt program and attitude data receiving program, when attitude data is sent to the control module, an interruption will be generated, and the attitude data is interrupted. After the program recognizes the frame header of the attitude data frame, it will save a complete frame of data to the buffer. When a frame of data is received, it will set the receiving flag and wait for the receiving program to read the data; the attitude data receiving program first reads Take the value of the receiving flag, make sure that a frame of data has been completely stored in the buffer, and then read the data after verification; if you want to update the attitude data, just call the attitude data receiving program; the built-in position data of the control module Interrupt program and position data receiving program, when there is position data sent to the control module, an interrupt will be generated, and the position data interrupt program will save the data to the buffer, when a frame program is received, the receiving program in the control module will save the data Take it to the corresponding variable; the position data receiving program first reads the value of the receiving flag bit, confirms that a frame of data has been completely stored in the buffer, and then reads the data after verification; if you want to update the position data, Just call the location data receiving program. 5. ship motion control simulation platform according to claim 1, is characterized in that: attitude measurement module adopts miniAHRS attitude module, and the pitch angle of attitude measurement module output motion platform, yaw angle, roll angle and height; Position determination module adopts WF-NEO-6M positioning chip. 6. The ship motion control simulation platform according to claim 1, characterized in that: the drive module adopts a single propeller and double rudder structure. 7. The ship motion control simulation platform according to claim 6, wherein the drive module includes a motor, a transmission shaft, a propeller, a remote controller, a steering gear, a pull rod and a rudder blade, wherein the remote controller is used to control the motor to move forward and backward , stop; the motor rotates to drive the propeller through the transmission shaft; the rocker arm of the steering gear rotates to drive the rudder blade through the pull rod. 8. The ship motion control simulation platform according to claim 1, characterized in that: the software part in the control module adopts a modular design, and each module has an independent bottom program, so as to ensure that only the module sub-program is called separately in the control process The program can realize the module function. 9. The ship motion control simulation platform according to claim 1, characterized in that: the control module also has a built-in deck motion model, carries out wave modeling through the control module and obtains various effective wave inclination angles, and inputs the obtained effective wave inclination angles respectively The corresponding motion transfer function is calculated to obtain the deck attitude motion function, and then according to the attitude data fed back by the attitude measurement module, combined with the deck attitude motion function, the calculation is performed, and the control signal is output to the drive module to control the attitude of the motion platform; Among them, deck motion includes roll motion, pitch motion, heave motion, effective wave inclination includes roll effective wave inclination, pitch effective wave inclination, heave effective wave inclination, transfer function includes roll motion transfer function, pitch motion transfer function, heave and float motion transfer function. 10. A ship motion control method, characterized in that, the heading control and the track control are controlled separately, the real-time position data of the ship is first received, and compared with the desired track, and then the desired heading is output; then the desired heading is received And the real-time attitude data of the ship, calculate and output the control signal of the desired attitude; then change the motion attitude of the ship according to the control signal.