Abstract A Simulink code for numerical simulation of ship manoeuvring is developed based on the appropriate differential equations. Both the Abkowitz and MMG models are implemented as choices according to the available hydrodynamic particulars of a given ship. Reliability of the developed code is assessed by performing the turning and zigzag tests for two different ships, employing the Abkowitz and MMG models in turn according to the available characteristics. As a field study, real time records of the routes followed by a passenger ship crossing the Strait of Istanbul under the disturbing effect of a lateral current were made. One of the vessels tested was autopiloted by a classic PD and a fuzzy-like PD controller separately, guiding the ship to a target destination under cross-current as in the Strait of Istanbul. Performances of these controllers in comparison with the human piloting of the field observations reveal that under disturbing current effects both controllers provide relatively shorter travel paths and the fuzzy-like PD controller stands as a better choice between the two.

中文翻译：

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船舶在外部扰动下的受控航向仿真

摘要 基于适当的微分方程，开发了用于船舶操纵数值模拟的 Simulink 代码。Abkowitz 和 MMG 模型都是根据给定船舶的可用水动力细节作为选择来实现的。所开发代码的可靠性通过对两艘不同的船舶进行转弯和之字形测试来评估，根据可用特性依次采用 Abkowitz 和 MMG 模型。作为实地研究，实时记录了一艘客船在侧流干扰作用下穿越伊斯坦布尔海峡的路线。其中一艘测试的船只分别由经典的 PD 和类似模糊的 PD 控制器自动驾驶，引导船只在横流下驶向目标目的地，如伊斯坦布尔海峡。