MCSimPython 0.0.13

Python vessel simulation environment

MCSimPython

Vessel simulator used in master project and master thesis of M. Kongshaug, H. Mo and J. Hygen. The project is developed at Norwegian University of Science and Technology, Institue of Marine Technology.

The python package is not complete and there is no guarantee for the validity of the vessel models.

Structure

All code implementation is found in the src directory. The python package is structured as follows:

• src/MCSimPython/simulator/ Simulation Models. Python Path:= MCSimPython.simulator
  • csad.py: Simulation models for C/S Arctic Drillship
  • gunnerus.py: Simulation models for R/V Gunnerus
• src/MCSimPython/waves/ Wave kinematics, wave spectra, and wave loads. Python Path := MCSimPython.waves
• src/MCSimPython/guidance/ Reference Models. Python path:= MCSimPython.guidance (in development)
  • filter.py: A third order reference filter.
  • path_param: Waypoint path parameterization.
• src/MCSimPython/observers/ Observers : MCSimPython.observer (in development)
  • nonlinobs.py: Nonlinear observers (only 3DOF nonlinobs w/ wavefiltering atm)
• src/MCSimPython/control Controllers : MCSimPython.control (in development)
  • basic.py: Simple PD and PID controllers
  • backstepping.py: A simple backstepping controller (no bias compensation).

How to use MCSimPython

• Clone the GitHub repository to your local computer.
• Create a virtual environment py -m venv name-of-venv
• Activate virtual environment name-of-venv\scripts\activate
• Update pip and setuptools: py -m pip install --upgrade pip setuptools
• Install the python package locally as an editable: pip install -e .
• Verify that the python package MCSimPython has been installed properly by running a demo script, or simply

(venv) C:\path\to\dir> python
>>> import MCSimPython
>>>

Demos

Demonstration of how the individual components of the python package can be used is given in demos. Some demos of combination of the different components are also given here.

Visualization

RVG 6DOF model in beam sea

RVG 6DOF model in multidirectional sea

CSAD 6DOF model in multidirectional sea