KR101631081B1 - Reliability evaluation test system and method for dynamic positioning system - Google Patents

Abstract

The present invention relates to a system and method for evaluating the reliability of a dynamic position maintaining system, and more particularly, to a system and method for evaluating the reliability of a dynamic position maintaining system, in which the actual thrust is calculated, And a simulator for simulating the actual ship and for analyzing the motion of the virtual ship in accordance with the control of the controller by simulating the actual ship and various equipment installed in the actual ship for fixing the position of the actual ship and the forward direction thereof The simulator transmits the changed position information of the virtual ship and the operation information of the virtual thrust device to the controller, and the controller recalculates the thrust necessary for the actual ship based on the information and outputs the control signal to the simulator By repeating the process, Does not need to be connected may be non-test the normal operation status of the controller, to a reliability evaluation system and method for dynamic position keeping system, characterized in that to simulate a start-up dynamic position keeping system.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a reliability evaluation system for a dynamic location maintenance system,

The present invention relates to a system and method for evaluating the reliability of a dynamic position maintaining system, and more particularly, to a system and method for evaluating the reliability of a dynamic position maintaining system, in which the actual thrust is calculated, And a simulator for simulating the actual ship and for analyzing the motion of the virtual ship in accordance with the control of the controller by simulating the actual ship and various equipment installed in the actual ship for fixing the position of the actual ship and the forward direction thereof The simulator transmits the changed position information of the virtual ship and the operation information of the virtual thrust device to the controller, and the controller recalculates the thrust necessary for the actual ship based on the information and outputs the control signal to the simulator By repeating the process, Does not need to be connected may be non-test the normal operation status of the controller, to a reliability evaluation system and method for dynamic position keeping system, characterized in that to simulate a start-up dynamic position keeping system.

Dynamic Positioning System refers to a device that operates to position a vessel at a desired point continuously. It is used to measure external forces (wind, waves, algae, etc.), thrusters such as thrusters A power management system for managing power for operating the thrust device, and a controller.

The dynamic position maintenance system is mainly composed of a mobile ship such as a drill ship, a crude oil production storage and unloading facility (FPSO), a semi-rig, a shuttle tanker (Shuttle Tanker) Offshore Units (MOUs) These vessels are important in shipbuilding. Because such offshore plant vessels have various purposes such as drilling, production, transportation, and support, conventional anchoring (anchors are fixed on the sea floor) The system is installed and operated in a dynamic position maintaining system which is advantageous compared with the conventional method of fixing the ship's fixed structure to the sea floor, and has advantages such as being simple, maneuverable, and not being affected by the depth of water and the sea floor.

The objective of the dynamic location maintenance system is to ensure that the controller can normally control the overall operation of the dynamic location maintenance system, since the vessel is positioned continuously at the desired point. However, since the characteristics of the external force measuring device, the thrust device, and the power management system connected to the controller are different from each other and the number thereof is very large, performance optimization and safety verification are most efficiently performed before the actual ship is constructed Despite the fact, there was a real difficulty in performing performance optimization and safety verification by actually combining these devices before actually building the ship.

In addition, since the main working environment of the MOUs is so long that it is impossible to artificially test the environment elements of the distant plant, the controller can properly control the dynamic positioning system There is a problem that it can not be confirmed.

(Patent Literature) Registered Patent No. 10-1117008 (2012.03.16. Announcement) "Test Method and System for Dynamic Positioning System"

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems,

The object of the present invention is to provide an apparatus and a method for controlling an actual thrust device, which includes a controller for controlling an actual thrust device by calculating a thrust required for an actual ship in order to fix a position of an actual ship and fix it in a forward direction according to an external force acting on an actual ship, And a simulator for simulating the actual ship and analyzing the motion of the virtual ship in accordance with the control of the controller, the simulator being connected to the controller and for connecting the actual equipment to the controller, The reliability evaluation system of the dynamic position maintenance system and the method thereof.

The simulator transmits the changed position information of the virtual ship and the operation information of the virtual thrust device to the controller, and the controller recalculates the thrust necessary for the actual ship based on the information and returns the control signal to the simulator The present invention provides a system and method for evaluating the reliability of a dynamic position maintenance system that can simulate a trial operation of a dynamic position maintenance system which is time consuming and costly in a realistic reality.

An object of the present invention is to provide a failure signal generated when the actual ship has fallen into a failure state or to a failure signal generated when the actual ship is in a failure state, The simulator including a signal modulating section for short-circuiting or modulating a change signal, wherein the simulator transmits the fail signal or change signal to the controller to test whether the controller can normally respond to the failure situation A reliability evaluation system and a method thereof.

An object of the present invention is to provide a system and method for evaluating the reliability of a dynamic location maintenance system capable of verifying the accuracy and reproducibility of a simulation result after completion of a simulation by data recording, recording and storing operations of virtual equipment simulated by the simulator .

The objects of the present invention are not limited to the above-mentioned objects, and other objects of the present invention which are not mentioned can be understood by the following description and can be more clearly understood by the embodiments of the present invention. Further, the objects of the present invention can be realized by the means shown in the claims and their combinations.

The reliability evaluation system and method of a dynamic position maintenance system for achieving the object of the present invention described above include the following configuration.

The system for evaluating the reliability of the dynamic position maintaining system according to an embodiment of the present invention calculates a thrust required for an actual ship in order to fix a position of an actual ship and fix it in a forward direction according to an external force acting on an actual ship, And a simulator for simulating the actual ship and for analyzing the motion of the virtual ship in accordance with the control of the controller by simulating the actual ship and various equipment installed in the actual ship to fix the position and forward direction of the actual ship And it is possible to perform various tests such as a functional test and a failure test without connecting actual equipment to the controller to check whether the controller is operating normally.

In the system for evaluating the reliability of a dynamic position maintenance system according to an embodiment of the present invention, the simulator simulates the actual ship as a virtual ship and provides various equipment installed on the actual ship for fixing the position of the actual ship, And a simulation unit for simulating the motion of the virtual ship according to the operation of the virtual equipment.

In the reliability evaluation system for a dynamic position maintaining system according to an embodiment of the present invention, the simulation unit includes a thrust device simulator for simulating the actual thrust device and simulating the operation of the actual thrust device according to the control signal of the controller Wherein the simulator of the thruster device simulates the actual thrust device to simulate the virtual thrust device, and a controller which simulates the operation of the actual thrust device according to the operation logic based on the operation experiment data of the actual thrust device, And a thrust device operation module for operating the virtual thrust device.

In the system for evaluating the reliability of a dynamic position maintenance system according to an embodiment of the present invention, the simulation unit simulates the actual ship to program a virtual ship, And a ship simulation unit for analyzing the motion of the virtual ship, the ship simulation unit modeling the outermost plate of the hull at which the actual ship is in contact with the fluid to simulate the actual ship as a virtual ship, An external force calculation module for constructing a virtual environment element acting on the ship; and a control unit for analyzing the motion of the virtual ship when thrust by the virtual environment element and the virtual thrust device acts on the virtual ship, And a motion analysis module for calculating the motion.

In the system for evaluating the reliability of a dynamic position maintaining system according to an embodiment of the present invention, the simulation unit simulates an actual sensor installed on an actual ship and transmits changed position information of the virtual ship calculated by the motion analysis module to an actual sensor Wherein the sensor simulation unit comprises a GPS sensor simulation module for programming a virtual GPS sensor by simulating a real GPS sensor and a GYRO sensor simulation module for programming a virtual GYRO sensor by simulating an actual GYRO sensor, and. And an MRU sensor simulation module for simulating the actual MRU sensor and programming the virtual MRU sensor.

In the reliability evaluation system of the dynamic position maintaining system according to an embodiment of the present invention, the simulator may include an output value obtained by reconstructing the changed position information of the virtual ship of the sensor simulation unit with a sensor signal, And transmits the virtual environment element configured in the external force calculation module to the controller, and the controller controls the virtual environment element based on the output value, the operation information, and the virtual environment element, Calculating the thrust required for the actual ship, and outputting the calculated thrust to the simulator repeatedly, thereby testing whether the controller operates normally or not, and simulating the trial operation of the dynamic position maintaining system.

In the reliability evaluation system of the dynamic position maintenance system according to an embodiment of the present invention, the simulator may include an output value obtained by reconstructing the changed position information of the virtual ship of the sensor simulation unit with a sensor signal, And a signal modulator for short-circuiting or modulating operation data of the apparatus with a failure signal or a change signal generated when the actual ship is in a failure state, wherein the simulator transmits the failure signal or the change signal to the controller, Is capable of testing whether or not it can normally respond to the failure situation.

In the system for evaluating the reliability of a dynamic position maintenance system according to an embodiment of the present invention, the simulator includes a recording unit for recording and collecting data of operations of the virtual devices simulated by the simulation unit, And a storage unit for storing operation data of the virtual devices.

In the system for evaluating the reliability of a dynamic location maintenance system according to an embodiment of the present invention, the simulator includes an analysis unit for analyzing operation data of the virtual equipment stored by the storage unit, To a file of a specific format and outputting the converted file.

A method for evaluating reliability of a dynamic position maintaining system according to an embodiment of the present invention includes an input step of inputting a command for fixing a position and a heading of an actual ship to a controller, And a simulator coupled to the controller simulates the actual ship as a virtual ship and controls various equipment installed on the actual ship to fix the position of the actual ship and fix the ship in the forward direction And simulating the motion of the virtual ship in accordance with the operation of the virtual machine simulating the virtual machine.

In the reliability evaluation method for a dynamic position maintaining system according to an embodiment of the present invention, the simulation step simulates an actual thrust device to implement a virtual thrust device, and the virtual thrust device A simulator for simulating the operation of the virtual ship and simulating the operation of the virtual ship and simulating the actual ship to construct a virtual ship, A ship simulating step of analyzing the motion of the virtual ship when the thrust by the ship is calculated and calculating the changed position information of the virtual ship, and a virtual sensor simulating an actual sensor installed on the actual ship to calculate a virtual sensor A sensor for reconstructing the changed position information of the virtual ship with the output value of the virtual sensor, And that of a step characterized.

The reliability evaluation method of a dynamic position maintaining system according to an embodiment of the present invention transmits an output value of the virtual sensor outputted in the simulation step, operation information of the virtual thrust device, and the virtual environment element to the controller, Calculating a thrust force required for the actual ship to fix the position of the actual ship and fixing the ship in the forward direction based on the output value, the operation information, and the virtual environment element, and outputting the calculated thrust to the simulator, It is possible to test whether the controller is operating normally or not, and to simulate the trial operation of the dynamic position maintaining system.

A method for evaluating reliability of a dynamic position maintaining system according to an embodiment of the present invention is characterized in that a signal modulating unit generates an output value of the virtual sensor output from the simulator unit and operation data of the virtual thrusting unit, Wherein the simulator sends the failure signal or a change signal to the controller to test whether the controller can normally respond to the failure situation, .

The method for evaluating reliability of a dynamic location maintenance system according to an embodiment of the present invention includes a recording and storing step of recording and storing data of an operation of virtual equipment simulated in the simulation step, And analyzing and outputting the converted data into a file of a specific format and outputting the analyzed data.

The present invention can obtain the following effects by the above-described embodiment, the constitution described below, the combination, and the use relationship.

A controller for controlling an actual thrust device by calculating a thrust required for an actual ship in order to fix the position of the actual ship and fix it in the forward direction according to an external force applied to the actual ship; And a simulator for simulating the actual ship and analyzing the motion of the virtual ship in accordance with the control of the controller, the simulator being connected to the controller, so that the controller can operate normally without connecting actual equipment to the controller There is an effect of providing a reliability evaluation system and method for a dynamic location maintenance system capable of checking whether the system is operating.

The simulator transmits the changed position information of the virtual ship and the operation information of the virtual thrust device to the controller, and the controller recalculates thrust necessary for the actual ship based on the information and outputs a control signal to the simulator It is possible to provide a system and method for evaluating the reliability of a dynamic location maintenance system that can simulate a trial operation of a dynamic location maintenance system that takes a lot of time and cost in a real world through a simulator.

The present invention is characterized in that an output value obtained by reconstructing the changed position information of the virtual ship in the sensor simulating part as a sensor signal and operation information of the virtual thrusting device of the thruster device simulating module are inputted into the failure signal or change signal Wherein the simulator transmits a failure signal or a change signal to the controller to test whether the controller can normally respond to the failure situation, System and method therefor.

The present invention provides a system and method for evaluating the reliability of a dynamic location maintenance system that can verify the accuracy and reproducibility of a simulation result after completion of a simulation by data recording, recording and storing operations of virtual equipment simulated by the simulator .

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a configuration diagram showing a reliability evaluation system of a dynamic position maintaining system according to the present invention;
Fig. 2 is a configuration diagram showing the simulation unit of Fig. 1
3 is a flowchart showing a reliability evaluation method of the dynamic position maintaining system according to the present invention.
Figure 4 is a flow chart illustrating the simulation steps of Figure 3;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art.

In addition, although specific terms are used in the drawings and specification of the present invention, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

As shown in FIGS. 1 and 2, the system for evaluating the reliability of the dynamic position maintaining system according to the present invention calculates a thrust required for an actual ship in order to fix the position of an actual ship and fix it in a forward direction according to an external force acting on the actual ship (10) for controlling the actual thrust device, and a controller (10) for simulating the actual ship and various equipments installed on the actual ship to fix the position of the actual ship and fix it in the fore direction, The controller 10 performs various tests such as a functional test and a failure test without connecting the actual equipment to the controller 10 so that the controller 10 can control the motion of the virtual ship It is possible to check whether it is operating normally.

The controller 10 is configured to control various types of actual equipment such as a power management system and a thrust device of an actual dynamic position maintenance system. In the present invention, the controller 10 is connected to the simulator 20, Equipment.

The controller 10 controls the operation of the thrust device, which is necessary for fixing the position of the actual ship and fixing it in the fore-going direction, taking into consideration the actual environmental factors such as the actual ship's position and the wind, The angle of the thrust device, and the direction of the thrust device, and transmits the control signal to the thrust device. However, in the present invention, as described later, the calculation is performed based on the changed position information of the virtual ship calculated by the motion analysis model 215c and the virtual environment element configured in the external force calculation module 215b, And transmits a control signal to the simulator 20.

The simulator 20 simulates various equipment such as a thrust device, a sensor, and a power management system mounted on the actual ship and the actual ship, receives a control signal of the controller 10 in connection with the controller 10 The simulation unit 21, the recording unit 22, the storage unit 23, the analysis unit 24, the reporting unit 25, the display unit 26, and the communication unit 27, which are configured to simulate and analyze the motion of the virtual ship, .

The simulation unit 21 simulates the actual ship as a virtual ship and simulates various equipment installed on the actual ship as virtual equipment to fix the position and forward direction of the actual ship, And includes a power management system simulation unit 211, a thrust device simulation unit 213, a ship simulation unit 215, and a sensor simulation unit 217, as shown in FIG.

The power management system simulation unit 211 programs a virtual power management system by simulating a power management system that manages power for operating a thrust device, and controls the virtual power management system to operate the actual power management system The operation of the actual power management system is simulated and operated according to the operation logic based on the experimental data. Accordingly, a combination of the dynamic position maintaining system capable of optimizing the power by performing the operation of supplying electric power to operate the virtual thrust device and analyzing the operation data thereof to be described later can be constituted.

The thruster device simulation unit 213 simulates the actual thrust device and simulates the operation of the actual thrust device according to the control signal of the controller 10. The thruster device simulation module 213a and the thrust device operation module (213b).

The thrusters simulating module 213a may include a shape of an actual thrust device such as a propeller that provides power to move the ship so as to fix the position of the ship, Type and the like of the virtual thrust device.

The thrust device operation module 213b configures the operation logic of the virtual thrust device based on operation data values such as a thrust value or a thrust direction acting on the ship when the actual thrust device actually operates, The virtual thrust device is operated, and the operation data such as the thrust value, the thrust angle, and the thrust direction of the virtual thrust device are transmitted to the controller 10.

 The ship simulating unit 215 is configured to simulate the actual ship and to program the virtual ship and to analyze the motion of the virtual ship according to the operation of the virtual thrusters and environmental elements acting on the virtual ship. An external force calculation module 215b, and a motion analysis module 215c.

The ship modeling module 215a models the outer shell of the outermost hull where the actual ship is in contact with the fluid, based on the general instrument layout of the actual ship, the general instrument layout of the ship, the appearance of the ship, It implements a virtual ship with the same size, shape, and internal configuration. At this time, software such as Autocad and ShipX can be used.

The external force calculation module 215b is configured to generate virtual environment elements such as wind, waves, and ali that act on the virtual ship, and transmits the virtual environment elements to the controller 10. [

The motion analysis module 215c analyzes the motion of the virtual ship when the thrust due to the operation of the virtual thrust device and the virtual environment element generated by the external force calculation module 215b act on the virtual ship, (Position coordinates, heading direction, etc.) of the current position of the vehicle.

The sensor simulation unit 217 simulates actual sensors mounted on the actual ship and reconstructs the changed position information of the virtual ship calculated by the motion analysis module 215c as if it is an output value of the actual sensors, A GPS sensor simulation module 217a, a GYRO sensor simulation module 217b, and an MRU sensor simulation module 217c.

The GPS sensor simulation module 217a programs a virtual GPS sensor to have the same properties as the GPS sensor that measures the position of the vessel, and the virtual GPS sensor measures the position of the virtual ship calculated by the motion analysis module 215c And outputs the coordinates of the ship among the changed position information to the controller 10.

The GYRO sensor simulation module 217b programs the virtual GYRO sensor to have the same properties as the GYRO sensor for measuring the angular velocity of the ship, and the virtual GYRO sensor measures the angular velocity of the virtual ship calculated by the motion analysis module 215c And outputs the angular velocity value of the ship among the changed position information to the controller 10.

The MRU sensor simulation module 217c programs the virtual MRU sensor to have the same properties as the MRU sensor for measuring the posture of the ship through the ship's linear and rotational motion information (Surge, Sway, Yaw) Outputs the value of the attitude measured according to the linear and rotational motion of the ship among the changed position information of the virtual ship calculated by the motion analysis module 215c and transmits the value to the controller 10. [

The simulation unit 21 transmits to the controller 10 the changed position information of the virtual ship represented by the output value from the sensor simulation unit 217, the virtual environment element, and the operation data of the virtual thrust device, The controller 10 repeats the process of recalculating the thrust and thrust direction necessary for fixing the position of the actual ship and fixation of the ship in the forward direction and outputting the control signal to the simulator 20 again, Can be tested to see if it is operating normally and the commissioning of the dynamic positioning system can be simulated without connecting the actual equipment to the controller 10. [

The signal modulating unit 28 converts the output value of the sensor simulation unit 217 transmitted from the simulator 20 to the controller 10 and the operation data of the virtual thrust device of the thrust device simulation module 213a When the actual ship is in a failure condition, it is short-circuited / modulated by the failure signal / change signal generated in the actual ship. The failure signal / change signal includes, for example, a signal indicating that the actual thrust device is not operating. The simulator 20 transmits the failure signal or the change signal to the controller 10 so as to test whether the controller 10 can normally respond to the failure situation by a control command or an emergency operation for the thrust device can do.

The recording unit 22 records and collects operation data of the virtual power management system, the virtual thrust device, the virtual ship, the virtual GPS sensor, the virtual GYRO sensor, and the virtual MRU sensor simulated by the simulation unit 21, The storage unit (23) stores the operation data collected by the recording unit (22).

The analysis unit 24 divides the operation data stored in the storage unit 23 by the simulation sequence, divides the virtual environment elements acting on the virtual ship by wind, algae, and waves, The analysis unit 24 analyzes the operation data analyzed by the analysis unit 24 into a file of a specific format such as a PDF file or an EXCELL file, .

The present invention can numerically verify the accuracy and reproducibility of the simulation results after the completion of the simulation through the recording unit 22, the storage unit 23, the analysis unit 24, and the reporting unit 25, This will allow you to review the process to improve the process.

The display unit 26 is connected to the storage unit 23 to visually display the dynamic data stored in the storage unit 23. [ Therefore, the operator can intuitively confirm the process in which the simulation is being performed.

The communication unit 27 is configured to transmit and receive various signals between the controller 10 and the simulator 20 and may be connected to the controller 10 through an Ethernet hub or the like.

As shown in FIGS. 3 and 4, the reliability evaluation method of the dynamic position maintaining system according to the present invention includes an input step S1, a thrust calculation step S2, a simulation step S3, a signal modulation step S4, And a storage step S5 and an analysis and reporting step S6.

The input step S1 is a step of inputting an instruction to fix the position and forward direction of the actual ship to the controller 10. [

The thrust calculation step S2 is a step of calculating a thrust and a thrust direction necessary for executing the command inputted in the input step in the controller 10 and outputting a control signal to the simulator 20. [

In the simulation step S3, the simulator 20 connected to the controller 10 simulates the actual ship as a virtual ship and various kinds of equipment installed on the actual ship in order to fix the position of the actual ship and fix the ship in the forward direction, , Simulating the motion of the virtual ship according to the operation of the virtual equipment, simulating the thrust device simulating step S31, the ship simulating step S33 and the sensor simulating step S35 as shown in FIG. 5 .

The thruster device simulating step S31 may include a shape of the actual thrust device such as a propeller that provides power to move the ship so that the thrust device simulation module 213a can fix the position of the ship and fix the direction of the ship, A thrust force acting on the ship when the thrust device operation module 213b actually operates the thrust force device, or a thrust force acting on the ship, And configuring the operation logic of the virtual thrust device based on operation data such as the direction of thrust, and causing the virtual thrust device to operate in accordance with the operation logic.

In the ship simulating step S33, the ship modeling module 215a calculates the position of the ship in the outermost hull where the actual ship is in contact with the fluid, based on the general instrument layout of the actual ship, the general instrument layout of the ship, The external plate is modeled to implement a virtual ship having the same size, shape, and internal configuration as the actual ship, and the external force calculation module 215b calculates a virtual environment factor such as wind, waves, And the motion analysis module 215c analyzes the motion of the virtual ship when the thrust due to the operation of the virtual thrust device and the virtual environment element generated by the external force calculation module 215b act on the virtual ship And calculating the changed position information of the virtual ship.

The sensor simulation step S35 is a step of simulating actual sensors mounted on the actual ship and reconstructing the changed position information of the virtual ship calculated by the motion analysis module 215c as the output values of the actual sensors.

The simulation step S3 includes a step S31 of changing the virtual ship's position represented by the output value outputted at the sensor simulation step S35, the virtual environment element configured at the ship simulation step S33, and the thrust device simulating step S31 , The controller 10 transmits the operation data of the virtual thrust device to the controller 10 in the thrust calculation step S2, The thrust calculation step S2 and the simulation step S3 are repeatedly performed by recalculating the thrust and the thrust direction necessary for fixing the position and forward direction of the controller 10 And it is possible to simulate commissioning of the dynamic positioning system without connecting the actual equipment to the controller 10.

The signal modulating step S4 is a step of modulating the output value of the sensor simulating step S35 transmitted from the simulator 20 to the controller 10 in the simulation step S3 and the output value of the sensor simulating step S31 The operation data of the virtual thrust device is short-circuited / modulated into a failure signal / change signal generated in the actual ship when the actual ship is in a failure situation. Therefore, it is possible to test whether the controller 10 can normally respond to the failure situation by a control command or an emergency operation for the thrust device.

The recording and storing step S5 is a step of collecting and storing operation data of simulated virtual devices in the simulation step S3 and the analyzing and reporting step S6 is a step of storing Analyzing the operation data, converting the data into a file of a specific format, and outputting the converted file. Therefore, after finishing the simulation, it is possible to numerically verify the accuracy and reproducibility of the simulation result, and to improve the process by examining whether there is any improvement in the simulation method or the like.

The foregoing detailed description is illustrative of the present invention. In addition, the foregoing is intended to illustrate and explain the preferred embodiments of the present invention, and the present invention may be used in various other combinations, modifications, and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, within the scope of the disclosure, and / or within the skill and knowledge of the art. The embodiments described herein are intended to illustrate the best mode for implementing the technical idea of the present invention and various modifications required for specific applications and uses of the present invention are also possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. It is also to be understood that the appended claims are intended to cover such other embodiments.

10: Controller
20: Simulator
21: Simulation section
211: Power Management System Simulation Department
213: Thrust device simulation part 213a: Thrust device simulation module 213b: Thrust device operation module
215: ship simulating unit 215a: ship modeling module 215b: external force calculating module 215c: motion analyzing module
217: sensor simulation module 217a: GPS sensor simulation module 217b: GYRO sensor simulation module 217c: MRU sensor simulation module
22:
23:
24: Analytical Department
25: Reporting section
26:
27:
28: Signal modulation section
S1: input step
S2: Thrust calculation step
S3: Simulation step S31: Thrust device simulation step S33: Ship simulation step S35: Sensor simulation step
S4: Signal modulation step
S5: Record and store phase
S6: Analysis and reporting phase

Claims (14)

A controller for calculating the thrust required for the actual ship and for controlling the actual thrust device in order to fix the position of the actual ship and fix it in the forward direction according to the external force acting on the actual ship,
And a simulator for simulating various equipment installed on an actual ship and an actual ship for fixing the position of the actual ship and fixing the ship in the forward direction and analyzing the motion of the virtual ship under the control of the controller,
The simulator simulates a real thrust device and simulates an operation of an actual thrust device in accordance with a control signal of the controller. The simulator simulates a real ship to program a virtual ship, Simulates the actual sensor installed on the actual ship, reconstructs the changed position information of the virtual ship calculated by the ship simulator as if it is the output value of the actual sensor, analyzes the motion of the virtual ship according to the operation of the apparatus, A simulation unit for analyzing the motion of the virtual ship according to the operation of the virtual machine including the sensor simulation unit;
Wherein the controller is capable of performing various tests such as a functional test and a failure test without connecting actual equipment to the controller to check whether the controller is operating normally. delete The apparatus of claim 1, wherein the thrust device simulator
A thrust device simulating module for simulating the actual thrust device and for programming the virtual thrust device, and a controller for simulating the operation of the actual thrust device according to the operation logic based on the operation test data of the actual thrust device, And a thrust device operation module. 4. The apparatus of claim 3, wherein the ship simulator
A ship modeling module for modeling the outer shell of the hull at the outermost surface of the ship where the actual ship is in contact with the fluid to simulate the actual ship as a virtual ship, an external force calculating module for constructing a virtual environment element acting on the virtual ship, And a motion analyzing module for analyzing the motion of the virtual ship when thrust by the virtual environment element and the virtual thrust device acts on the virtual ship and calculating the changed position information of the virtual ship, Evaluation system. 5. The apparatus of claim 4, wherein the sensor simulation unit
A GPS sensor simulation module for simulating a real GPS sensor and programming a virtual GPS sensor, and a GYRO sensor simulation module for programming a virtual GYRO sensor by simulating an actual GYRO sensor. And an MRU sensor simulation module for simulating the actual MRU sensor and programming the virtual MRU sensor. 6. The method of claim 5,
Wherein the simulator includes an output value obtained by reconstructing the changed position information of the virtual ship in the sensor simulator with a sensor signal, operation information of the virtual thrust device of the thruster device simulation module, and the virtual environment element configured in the external force calculation module to the controller And the controller recalculates the thrust required for the actual ship to fix the position and forward direction of the actual ship based on the output value, the operation information, and the virtual environment element, and outputs it to the simulator repeatedly by doing,
Wherein the controller is capable of testing whether the controller is operating normally and is capable of simulating commissioning of the dynamic position maintaining system. A controller for calculating the thrust required for the actual ship and for controlling the actual thrust device in order to fix the position of the actual ship and fix it in the forward direction according to the external force acting on the actual ship,
And a simulator for simulating various equipment installed on an actual ship and an actual ship for fixing the position of the actual ship and fixing the ship in the forward direction and analyzing the motion of the virtual ship under the control of the controller,
The simulator includes a simulation unit for analyzing the movement of the virtual ship according to the operation of the virtual equipment, a signal modulation unit for receiving a signal generated from the simulation unit and modulating the failure signal or the change signal generated when the actual ship is in a failure state, ≪ / RTI >
The simulation unit simulates a real thrust device and simulates an operation of an actual thrust device according to a control signal of the controller. The simulator simulates a real ship to program a virtual ship, Simulates the actual sensor installed on the actual ship, reconstructs the changed position information of the virtual ship calculated by the ship simulator as if it is the output value of the actual sensor, analyzes the motion of the virtual ship according to the operation of the apparatus Sensor simulation unit,
The signal modulator may output an output value obtained by reconstructing the changed position information of the virtual ship of the sensor simulation unit with a sensor signal and operation data of the virtual thrust device of the thunderstorm apparatus simulation unit as a failure signal or a change signal generated when the actual ship is in a failure state Short-circuit or modulate,
Wherein the simulator is able to test whether the controller can normally respond to the failure situation by sending the failure signal or a change signal to the controller. 8. The method according to claim 6 or 7,
Wherein the simulator includes a recording unit for recording and collecting data of the virtual devices simulated by the simulation unit, and a storage unit for storing operation data of the virtual devices collected by the recording unit. Reliability evaluation system of maintenance system. 9. The method of claim 8,
Wherein the simulator includes an analysis unit for analyzing operation data of the virtual devices stored by the storage unit and a report unit for converting operation data analyzed by the analysis unit into a file of a specific format and outputting the dynamic data. Reliability evaluation system of position maintenance system. An input step of inputting an instruction for fixing the position of the actual ship and fixing the forward direction to the controller,
A thrust calculation step of calculating, in the controller, thrust and a thrust direction necessary for executing the command inputted in the input step;
A simulator connected to the controller simulates the actual ship as a virtual ship and simulates various equipment installed on the actual ship as a virtual equipment for fixing the position of the actual ship and fixing the ship in the forward direction, And a simulation step of interpreting the motion of the vehicle,
Wherein the simulating step comprises: simulating a real thrust device to simulate a virtual thrust device and allowing a virtual thrust device to simulate and operate an actual thrust device under the control of the controller; A ship simulating step for constructing a virtual environment element acting on a virtual ship and analyzing the motion of the virtual ship when thrust by the virtual environment element and the virtual thrust device acts on the virtual ship to calculate the changed position information of the virtual ship; And a sensor simulating step of simulating a real sensor installed on an actual ship to implement a virtual sensor and reconstructing the changed position information of the virtual ship calculated at the ship simulating step into an output value of the virtual sensor A method for evaluating reliability of a position maintenance system. delete 11. The method according to claim 10, wherein the reliability evaluation method of the dynamic position maintenance system
The virtual thrust device outputting the output of the virtual sensor, the operation information of the virtual thrust device, and the virtual environment element output from the simulation step to the controller, and in the thrust calculation step, calculating, based on the output value, the operation information, Calculating a thrust required for the actual ship to fix the position of the ship and fix the ship in the forward direction, and outputting the calculated thrust to the simulator repeatedly,
Wherein the controller is capable of testing whether the controller is operating normally and is capable of simulating commissioning of the dynamic position maintaining system. 13. The method according to claim 12, wherein the reliability evaluation method of the dynamic position maintenance system
And a signal modulating step of shorting or modulating the output value of the virtual sensor output from the simulation step and the operation data of the virtual thrust device with a failure signal or a change signal generated when the actual ship is in a failure state ,
Wherein the simulator can test whether the controller can normally respond to the failure situation by sending the failure signal or change signal to the controller. 14. The method according to claim 12 or 13, wherein the reliability evaluation method of the dynamic position maintaining system
A recording and storing step of recording and storing the operation of the simulated virtual devices in the simulation step; a step of analyzing the operation data of the virtual equipments stored in the recording and storing step, And a reporting step in addition to the reporting step.

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