KR101792716B1 - System and method with a analog signal simulator for testing dynamic positioning controller system of a marine vessel - Google Patents

Abstract

The present invention provides a verification system for verifying a dynamic positioning control system for generating a control signal including a final destination information of a ship based on a simulated sensor signal, the verification system comprising a control signal An actuator simulator for continuously generating a modeled control signal including input information and thrust information, a ship simulator for performing a ship motion analysis by receiving the modeled control signal, and a sensor simulator for measuring a simulated sensor signal in the ship simulator. And an analog signal simulator for converting the communication type data into analog type data, wherein the analog signal simulator is capable of obtaining an accurate test result for the modeled control signal of the analog form and the simulated sensor signal .

Description

FIELD OF THE INVENTION The present invention relates to a system and method for dynamic position setting control of a ship having an analog signal simulator,

The present invention relates to a system for testing and verifying performance before mounting a ship's dynamic position setting control system on a ship, wherein an analog signal generation simulator is added to perform an HIL (Hardware In The Loop Simulation) The present invention relates to a verification system for a dynamic positioning control system of a ship that performs precise verification of elements.

The Dynamic Positioning Controller System (DPC system) is a system that allows a ship to maintain a fixed position in the sea or automatically maintain a predetermined path without using anchor with anchor or anchor. (Station Keeping).

For ships, the DPC system is very important in terms of ship safety and mission completion. For example, if the DPC system of a drilling rig that drills oil in the deep sea fails to operate properly, the drill ship may move to the wrong location and the connection of the petroleum connector connected to the deep sea may be disconnected. At this time, the oil from the disconnected pipe causes unrecoverable damage to the marine ecosystem, causing serious economic loss, and threatening the safety of workers on board the ship.

Therefore, a ship operating in a distant ocean may be affected by an unexpected ship failure (such as sensor failure or abnormal condition) or an external environment (abnormal speed of waves, intensity of waves outside the expected range, etc.) There is a need for extensive testing of how the ship will operate under abnormal conditions as well as the expected ship anomaly.

 On the other hand, if the DPC system is installed in a real ship, it must be connected to a large number of devices. If the DPC system does not operate normally after installation on the ship, the task of replacing the new DPC system on the ship is to disconnect and re- need. This requires a lot of time-consuming effort and can not rule out the possibility of a lot of wires being connected incorrectly. If the actual ship is located in a distant ocean, there are many problems such as the difficulty of carrying a new DPC system from a land to a distant ocean where ships exist.

Therefore, there is a great need for precise testing of the DPC system before it is finally mounted on the ship that the DPC system has been completed by the designer. On the other hand, in the production of the DPC system, the factory inputs the sensor signal simulated by the manufacturer into the DPC system and performs a so-called Factory Acceptance Test (FAT), which monitors the response of the DPC system. It has a disadvantage in that it can not verify the DPC system for a wide range of simulation situations.

Recently, DPC system has been tested by HIL (Hardware In The Loop Simulation) simulation instead of ship. However, in order to perform HIL test, DPC system must be connected to many simulator devices such as actuator simulator, PMS simulator, / Must be physically connected. In this case, there is a problem that a preparation time is too much needed to perform the simulation on the DPC system. In addition, there is a problem in that it is impossible to precisely connect the connection lines of a large number of simulator devices to the DPC system, so that accurate test results can not be obtained.

On the other hand, there are cases where the DPC system is changed due to replacement / repair, reprogramming, etc. of sensors, actuators, cranes, etc. mounted on the ship due to various factors during the operation of the vessel. The instability of the certified DPC system and the resulting risk of the ship. Therefore, it is necessary to periodically check whether the DPC system is changed or not, and if it is changed, it should receive a new certification so that potential risks to the ship can be preemptively prevented. Therefore, it is necessary to confirm whether or not the DPC system is changed by retesting the DPC system with the same test conditions as before to check whether the DPC system operates as intended and whether a new error occurs.

 However, there is a need to repeatedly perform the test to check whether the DPC system is changed when the performance of the DPC system controlling the devices is changed correspondingly by changing the conditions or limitations of many devices installed on the ship However, conventionally, during the HIL test for the DPC system, when complicated and extensive test conditions and test results according to the conditions are not stored, when the DPC system is to be changed later, the initial test conditions and test results There is a problem that the comparison and analysis of the test result is difficult, and it is impossible to confirm whether the DPC system is changed or not, so that the ship is operated in a state exposed to a potential danger.

As a result, there was room for controversy over the test results, and when the report was written, the test results were not accurately described. As a result, the reliability of the test results is low, the utilization of the HIL test for the DPC system is low, and the utilization value as the certification data is low.

U.S. Patent No. 06450112

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art,

It is an object of the present invention to provide an analog signal generation simulator which is one integrated input / output interface in a simulation system for verifying a DPC system, thereby enabling precise testing of components of a ship requiring analog control, And to provide a verification system for a dynamic position setting control system of a ship that provides convenience of test execution of the ship.

It is an object of the present invention to provide a simulation system for verifying a DPC system by mounting a data collecting unit for storing complex and extensive test conditions and test results according to the conditions during the HIL test for a DPC system, The present invention provides a verification system for a dynamic position setting control system of a ship capable of checking whether a DPC system has been changed by retesting the DPC system and thereby determining whether re-authentication of the DPC system is required.

It is another object of the present invention to provide a DPC system in which when a condition or limitation of a plurality of devices installed on a ship is changed by mounting a data collecting unit so that the performance of a DPC system controlling the devices is correspondingly changed, The present invention also provides a verification system for a dynamic positioning control system of a ship capable of confirming whether or not it operates as well as the possibility of occurrence of a new error.

It is another object of the present invention to provide a data collecting unit that can compare and analyze the test results corresponding to the initial test conditions, so that it is possible to confirm whether or not the DPC system is changed later so that the ship can be operated in a state exposed to a potential danger And to provide a verification system for a dynamic positioning control system of a ship which can be preemptively prevented.

It is another object of the present invention to provide a data collector capable of automatically generating a report on the basis of stored test result data, thereby providing convenience of a test performer, and a test requester can submit a report as evidence data, And to provide a verification system for a dynamic positioning control system of a ship capable of receiving certification related to regulations.

Another object of the present invention is to verify that the DPC system has been completed by the designer and can be verified by the HIL test connected to the simulator instead of the ship before mounting the DPC system on the ship, You can get an opportunity. Accordingly, it is an object of the present invention to provide a verification system for a dynamic position setting control system for a ship capable of precisely testing a malfunction or abnormal operation of components necessary for operation in the DPC system.

In order to achieve the above object, the present invention is implemented by the following embodiments.

According to an embodiment of the present invention, there is provided a verification system for verifying a dynamic positioning control system for generating a control signal including a final destination information of a ship based on a simulated sensor signal according to the present invention, An actuator simulator for continuously generating a modeled control signal including thrust information by receiving a control signal including final target information of the ship, a ship simulator for performing a ship motion analysis by receiving the modeled control signal, A sensor simulator for measuring a simulated sensor signal in a simulator; and an analog signal simulator for converting analog type data into communication type data and transmitting the data to the actuator simulator, wherein the verification system provides an integrated analog interface A ship similar to a real ship Service situation, characterized in that to obtain accurate test results for a modeled control signal, and a simulated sensor signals.

According to an embodiment of the present invention, the verification system according to the present invention includes a data collecting unit for storing test conditions, and the data collecting unit collects all necessary data in the process of performing the test on the dynamic location setting control system And a data storage module for storing data, wherein the data storage module comprises: a test condition module for storing a test condition; and a memory for storing a test result for the dynamic position setting control system simulated in the verification system, A test result module including the test result module is analyzed and a report is automatically generated to thereby derive a modeled control signal and a highly reliable test result for the simulated sensor signal.

According to an embodiment of the present invention, the data collection unit according to the present invention includes a report generation module for automatically generating a report on a test result for the dynamic location setting control system, And a report type generation module for generating a report type according to a standard corresponding to the classification regulatory condition necessary for authenticating the performance of the setting control system, analyzing the stored test results and automatically generating a report, And a reliable test result on the signal is derived.

According to an embodiment of the present invention, the data collector includes a report generation module for automatically generating a report on a test result of the dynamic location setting control system, A report type generating module for generating a report type according to a specification corresponding to a shipowner's requirement and analyzing the stored test result to automatically generate a report to derive a modeled control signal and a reliable test result for the simulated sensor signal .

According to an embodiment of the present invention, the report generation module according to the present invention includes a report type storage module for storing a report generated by the report type generation module, And a test result calling module for calling a test result stored in the test result module. The test result calling module may include a test result calling module for calling the test result stored in the test result module, And a report output module for generating a report by writing the test result inputted to the test result input module in the report type called by the report type calling module, Lt; RTI ID = 0.0 > Reliability of the control signal and the simulated sensor signals, characterized in that for deriving the higher test results.

According to an embodiment of the present invention, the data collector includes a DP change confirmation module for calling up data stored in the data storage module to compare and analyze test results of the dynamic location setting control system, The verification module includes a test condition calling module for calling a test condition stored in the data storage module and a test result calling module for calling a test result corresponding to the test condition and analyzing the stored test result to automatically generate a report, And a reliable test result on the simulated sensor signal is derived.

According to an embodiment of the present invention, the DP change confirmation module according to the present invention further includes a DP comparison determination module for comparing and analyzing the called test result, and automatically generates a report by analyzing the stored test result A modeled control signal and a reliable test result on the simulated sensor signal are derived.

According to another embodiment of the present invention, there is provided a verification method for a dynamic position setting control system for a ship according to the present invention, wherein the verification method comprises the steps of: A control signal outputting step of converting the control signal into an analog form and transmitting the control signal to an analog signal simulator, a control signal outputting step of outputting a control signal including an analog signal to the analog signal I / An analog signal generation step of converting the control signal including the final object information of the ship into a communication form and transmitting the control signal to the actuator simulator; and an actuator simulator transmitting a control signal including the final object information of the ship of the communication type from the analog signal simulator Modeling to include thrust information A ship simulating step in which the ship simulator performs a ship motion analysis by receiving a modeled control signal including thrust information, and a simulation simulator that simulates the position of the ship simulator Wherein the verification method includes providing a single analog interface integrated during the simulation of the dynamic positioning control system to provide a simulated situation similar to a real ship, And an accurate test result on the sensor signal can be obtained.

According to another embodiment of the present invention, the step of generating the thrust information signal according to the present invention further includes a step of transmitting a modeled control signal including thrust information to the ship simulator, It is possible to obtain accurate test results on the modeled control signal and the simulated sensor signal by providing simulated situations similar to those of a ship.

 According to another embodiment of the present invention, in the step of generating the thrust information signal according to the present invention, the modeled control signal including the thrust information is transmitted to the analog signal simulator of the integrated input / output interface so as to be fed back to the dynamic position setting control system And provides a simulated situation similar to that of an actual ship by providing a single integrated analog interface including a plurality of sensors, thereby obtaining accurate test results on the modeled control signal and the simulated sensor signal.

According to another embodiment of the present invention, the control signal according to the present invention may include signal information for controlling at least one of the shaft speed and the rotational direction of the actuator to provide a single integrated analog interface, And a simulation result is provided to obtain accurate test results on the modeled control signal and the simulated sensor signal.

According to one embodiment of the present invention, the sensor simulator according to the present invention includes a plurality of GPS sensors for measuring a signal from a satellite and detecting a position of the ship, and a plurality It is possible to obtain accurate test results for the modeled control signal and the simulated sensor signal by providing a simulated situation similar to that of an actual ship by providing one integrated analog interface including at least two of the plurality of underwater acoustic sensors .

According to an embodiment of the present invention, the analog signal simulator according to the present invention converts data of communication type into data of analog type and transmits it to the dynamic position setting control system to provide one integrated analog interface, So that a precise test result of the modeled control signal and the simulated sensor signal can be obtained.

The present invention has the following effects with the above-described configuration.

The present invention provides an analog signal generation simulator, which is an integrated input / output interface, to a simulation system for verifying a DPC system, thereby enhancing the analog noise simulation capability, thereby providing a simulated environment simulation similar to a real ship environment, It has the effect of providing a convenience of precise test execution and test execution of the position setting control system.

The present invention can store complex and extensive test conditions and test results according to the conditions during the HIL test for the DPC system in the simulation system for verifying the DPC system, It is possible to check whether the DPC system is changed or not by re-testing, thereby determining whether re-authentication of the DPC system is required.

 In addition, the present invention can be applied to a case where the conditions or limitations of a number of devices installed on a ship are changed to correspondingly change the performance of the DPC system controlling the devices, whether the DPC system operates as intended, It is possible to repeatedly test the DPC system based on the confirmation of the possibility of occurrence of a new error and based on the same test condition, so that the effect of verifying the performance according to various specifications of the DPC system can be obtained.

Further, since the present invention can compare and analyze the test results corresponding to the initial test conditions, it is possible to confirm whether or not the DPC system is changed later so that the ship can be prevented from being operated in a state exposed to a potential danger. Can be obtained.

In addition, the present invention automatically saves test conditions for test conditions and conditions, and automatically generates a report based on stored data, thereby reducing debate on test results and improving reliability.

Further, the present invention can automatically generate a report according to the requirements of the ship's regulatory condition items and / or the ship owner based on the stored test result data, thereby providing convenience of the test performer and enhancing the reliability, So that it is possible to receive certification related to relevant laws and regulations on the DPC system.

In addition, the present invention verifies a HIL test connected to a simulator instead of a ship before finally mounting the DPC system on a ship, so that it can be repeatedly verified and the algorithm of the DPC system can be modified by improving the problem based on the verification result. Therefore, the present invention can be improved by a DPC system capable of coping with various situations of the inside and outside environment of a ship, and effectively prevent occurrence of problems such as unrecoverable economic loss that may occur due to a failure of a DPC system in a real ship have.

In addition, the present invention tests and verifies the function and the capability of responding to faults before finally installing the DPC system on a ship. It is possible to detect hidden errors, parameters and design errors through testing, The system has the effect of enabling perfect integration with other ship systems.

1 is a block diagram for explaining a dynamic position setting control system connected to a plurality of simulator devices.
2 is a block diagram illustrating a dynamic positioning control system coupled to a verification system that provides an analog signal simulator.
3 is a block diagram illustrating a dynamic positioning control system coupled to a verification system including an analog signal simulator and a data collection unit.
4 is a block diagram illustrating in detail the data storage module of the data collection unit shown in FIG.
5 is a block diagram illustrating in detail the report generation module of the data collection unit shown in FIG.
6 is a block diagram illustrating in detail the DP change confirmation module of the data collection unit shown in FIG.

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. Thus, the shape of the elements in the figures has been exaggerated to emphasize a clearer description.

A verification system for a dynamic positioning control system of a ship having an analog signal simulator of the present invention will now be described in detail with reference to the drawings.

Referring to FIG. 1, a verification system for a ship's dynamic positioning control system according to an embodiment of the present invention includes a dynamic positioning control system 10 and a verification system 20. The dynamic positioning control system 10 may include an analog signal I / O module 11 and a controller 12 and generates a control signal including the vessel's final destination information according to an algorithm.

The analog signal I / O module 11 includes hundreds to thousands of I / Os to transmit or receive signals in analog form with the verification system 20 and to be connected to a number of simulation devices included in the verification system 20 . On the other hand, the analog signal I / O module 11 can receive analog data such as analog sensor data and signals from the verification system 20 and transmit the analog data to the controller 12.

The controller 12 may control the overall operation of the dynamic positioning control system 10 and may receive a simulated sensor signal from the analog signal I / O module 11 to generate a control signal, Information. The connection line (e) shown in FIG. 1 represents that the controller 12 receives data from the analog signal I / O module 11 by a digital communication method.

In the present invention, the analog signal I / O module 11 may transmit the analog signal from the verification system 20 to the controller 12 via the digital communication method. In another embodiment, the analog signal I / O module 11 receives the control signal from the controller 12 in a digital communication method, converts the received data into an analog control signal, and transmits the control signal to the verification system 20 .

On the other hand, in the present invention, the dynamic positioning control system 10 corresponds to a dynamic positioning control system (DPC system) of a ship, and performs verification of the verification system 20 with a device completed by a designer Once it passes, it is mounted on the actual ship to control the dynamic position of the ship.

The dynamic positioning control system 10 includes an algorithm set by the user and is connected to the verification system 20 instead of the actual vessel to generate a control signal according to the algorithm for the simulation situation provided by the verification system 20, . In order to perform the verification of the present invention, the verification system 20 transmits a virtual simulated sensor signal to the dynamic positioning control system 10, and the dynamic positioning control system 10 initializes Thereby generating a control signal.

The control signal is information on a final target point at which the actual ship is to be positioned, and may include signal information for controlling at least one of a shaft speed and a rotation direction corresponding to a force and a direction for moving the actuator.

The present invention inputs a control signal including the final destination information of the ship generated by the controller 12 into a verification system 20 that provides a virtual ship environment to execute the simulation and send the result back to the dynamic positioning control system 10).

The controller 12 having received the feedback simulated sensor signal generates a control signal including the final destination information of the ship, and repeats the control signal in sequence as the feedback is repeated. In accordance with this feedback process, whether or not the dynamic positioning control system 10 generates a normal control signal in a given condition can be verified by visually confirming that the ship model displayed on the monitor (not shown) .

The verification system 20 includes an actuator simulator 21, a PMS simulator 22, a ship simulator 23 and a sensor simulator 24 to generate a simulation situation according to the test conditions, To verify the performance. In the present invention, the verification system 20 can be implemented as a hardware in the loop simulation (HIL) test connected to a simulator instead of a ship.

The dynamic position setting control system 10 is connected to the actuator simulator 21 via a connection line a and a connection line b, a connection line c to the PMS simulator 22 and a connection line d to the sensor simulator 24, Respectively, and the verification system 20 performs simulations for testing the dynamic positioning control system 10.

In order to perform the HIL test on the actual dynamic positioning control system 10, it is necessary to perform the HIL test on the actual dynamic positioning control system 10 by using the four connection lines (a) to (d) A number of lines must be individually connected to the internal analog signal I / O module 11 of the dynamic positioning control system 10. [ Therefore, the analog signal I / O module 11 may have an I / O number corresponding to the number of connection lines to connect a number of lines included in the connection lines (a) to (d).

The actuator simulator 21 is implemented with a parameter similar to that of an actual ship actuator and continuously transmits a control signal to the ship simulator 23 similar to an actuator mounted on an actual ship. The control signal generated in the actuator simulator 21 is defined as a modeled control signal including thrust information, and the thrust information means information about the force and direction provided by the actuator.

For example, when a control signal having information that the current vessel is located at 30 degrees north / 30 degrees east and the target position of the vessel is 50 degrees north / 50 degrees east is transmitted to the actuator simulator 21, To the ship simulator 23, information on the force and direction produced by the actuator per unit time (or per minute).

 The actuator simulator 21 continuously transmits information on the force and direction provided in the actuator to the ship simulator 23 until the ship reaches the final target point, and the related information is transmitted to the analog signal I / O module 11 . Further, the PMS simulator 22 requests the necessary power.

The PMS simulator 22 is a power management system (PMS) as a power system that provides the power required for a ship. When the PMS simulator 22 receives a power request signal from the actuator simulator 21, the PMS simulator 22 transmits a value corresponding to the requested power to the actuator simulator 21 and transmits the related information to the analog signal I / O module 11.

The ship simulator 23 can be modeled similarly to an actual ship to perform a motion analysis of the ship. For example, the actual actuator target control value transmitted from the dynamic positioning control system 10 is transmitted to the ship simulator 23 via the actuator simulator 21, and information on the generated force and direction similar to the actual actuator response The ship simulator 23 performs the motion analysis of the ship corresponding to the control signal.

The sensor simulator 24 performs a simulation for simultaneously or selectively measuring the position and the speed of the ship simulator 23 according to the motion analysis results of the ship simulator 23 and outputs the simulated sensor signal to the analog signal I / 11).

The sensor simulator 24 includes a GPS sensor (not shown) for measuring the position of the ship by measuring a signal from the satellite, an underwater acoustic sensor (not shown) for measuring the position of the ship by measuring signals from a device installed on the sea floor, And a wind sensor (not shown) for measuring wind in the area where it is located. Each of the virtual sensors may be realized as one or more than one.

Therefore, when the ship simulator 23 performs the motion analysis in response to the control signal transmitted from the actuator simulator 21, the plurality of virtual sensors transmit the position and the heading of the ship, Hardness and azimuth information to generate a simulated sensor signal, and the sensor simulator 24 transmits the simulated simulated sensor signal to the analog signal I / O module 11. The analog signal I /

2, a verification system 200 according to another embodiment of the present invention includes an actuator simulator 210, a PMS simulator 220, a ship simulator 230, a sensor simulator 240, an analog signal simulator 250 ) To verify the performance of the dynamic positioning control system 100 for an abnormal mock situation in accordance with the test conditions. The functions of other configurations are the same as those described above, and the contents related to the analog signal simulator 250 will be described in detail below.

1, when connecting the dynamic positioning control system 10 to the verification system 20 to perform a test on the dynamic positioning control system 10, the analog signal I / O module 11 need to be connected through hundreds to thousands of I / Os to a number of simulation devices included in the verification system 20. [ However, in this case, the operation of connecting / disconnecting a large number of connecting lines (a) to (d) with the analog signal I / O module 11 physically through several hundred to several thousand I / O is inefficient in terms of time and space But may also be misconnected, which makes it difficult to accurately verify the dynamic positioning control system 10.

Thus, in accordance with another embodiment of the present invention, an analog signal simulator 250 is presented, which is an integrated input / output interface.

1 and 2, the analog signal simulator 250 transmits an analog signal through the single connection line a2 to the analog signal I / O module 11, so that the analog signal I / O module 11 It is possible to internally change the signal in the form of digital communication through the connection line e and transmit it to the controller 120. Therefore, according to another embodiment of the present invention, the analog signal simulator 250 can transmit the analog signal information to the dynamic positioning control system 100 via the single connection line a2.

The analog signal simulator 250 may also generate natural noise to make it similar to the situation on an actual ship and transmit it to the analog signal I / O module 110 along with the simulation results. The analog signal simulator 250 receives a control signal including the final destination information of the ship of the analog type from the analog signal I / O module 110, converts the received control signal into a communication form, and outputs the converted control signal to the actuator simulator 210 . Thereafter, when a simulation of a control signal of a communication type is performed in the verification system 200, the analog signal simulator 250 converts the result into an analog form and transfers the analog form to the analog signal I / O module 110.

Accordingly, the analog signal simulator 250 can exchange data with the analog signal I / O module 110 through the single connection line a2 in an analog form, and the analog signal I / The analog signal can be converted into a digital communication form and transmitted to the controller 120.

 In the course of performing simulation for the dynamic positioning control system 100 by the verification system 200 changing the values for the actuator simulator 210 and the sensor simulator 240 individually or simultaneously, the analog signal simulator 250, O module 110 by converting the control signal including the final destination information of the ship into a communication form, transmitting the control signal to the actuator simulator 210, converting the simulation result of the communication form into an analog form, It is possible to make accurate testing of the value and to provide convenience of test execution.

Here, the analog signal simulator 250 may include a control signal modeled in a communication mode to perform communication for feeding back the modeled control signal including the thrust information, the simulated sensor signal, and the like to the dynamic positioning control system 100, The signal can be changed to an analog form and transmitted.

The method for verifying the dynamic position setting control system of a ship according to another embodiment of the present invention includes an event input step S100, a control signal output step S200, an analog signal generation step S300, a thrust information signal generation step S400 A ship simulation step S500, and a simulated sensor signal measurement step S600.

The event input step S100 includes a simulation step in which the analog signal simulator 250 transmits the event to the analog signal I / O module 110 when the sensor simulator 240 generates a simulated sensor signal (event).

Next, the control signal output step S200 generates a control signal including the final destination information of the ship according to the internal algorithm based on the simulated sensor signal received from the analog signal I / O module 110 by the controller 120 And to the analog signal I / O module (110). At this time, the analog signal I / O module 110 converts the control signal including the final destination information into an analog form and transmits it to the analog signal simulator 250.

The analog signal generation step S300 includes a step in which the analog signal simulator 250 receives the control signal including the final object information in analog form, converts the received control signal into a communication form, and transmits the communication signal to the actuator simulator 210 do.

Next, in step S400, the actuator simulator 210 receives the control signal of the communication type including the final destination information of the ship from the analog signal simulator 250, and outputs the modeled control signal including the thrust information And a simulation step of generating a simulation result. The test condition may include a base condition and other abnormal condition for testing whether the dynamic position control system 100 is normally executed according to the designed algorithm.

The step of generating the thrust information signal (S400) may further include transmitting the modeled control signal including the thrust information of the communication type to the ship simulator (230). The thrust information signal generation step (S400) may further include transmitting the modeled control signal to the analog signal simulator (250).

Next, the ship simulation step S500 includes a simulation step in which the ship simulator 230 receives the modeled control signal including the thrust information and performs the ship motion analysis. The ship simulator 230 is designed to have the same parameters as the actual ship and can produce the same effect as that of the actual ship.

Next, the simulated sensor signal measurement step S600 includes performing a simulation in which the sensor simulator 240 simultaneously or selectively measures the position and speed of the ship simulator 230. [ The simulated sensor signal measuring step S600 may further include transmitting the simulated sensor signal of the simulated communication type to the analog signal simulator 250. [

Next, the feedback step S700 is a step in which the analog signal simulator 250 converts the modeled control signal including the final object information of the communication type and the simulated sensor signal into analog form, and outputs the analog signal I / O module 11, as shown in FIG.

3 to 6, the verification system 200 according to another embodiment of the present invention includes an actuator simulator 210, a PMS simulator 220, a ship simulator 230, a sensor simulator 240, (250), and a data collection unit (260) to store the test results for the dynamic positioning control system (100) and automatically generate a report. The functions of the other components are the same as those described above. Hereinafter, contents related to the data collecting unit 260 will be described in detail.

The data collection unit 260 includes a data storage module 261, a report generation module 262 and a DP change confirmation module 263 and stores a test result for the dynamic location setting control system 100, .

4, the data storage module 261 includes a test condition module 261a, a test result module 261b, and a report result module 261c, and performs a simulation for the dynamic position setting control system 100 It stores all the necessary data in the process.

The test condition module 261a stores test conditions for verifying the performance of the dynamic positioning control system 100. [ The test condition includes a condition for testing whether the performance of the dynamic positioning control system 100 is satisfied or not, and a condition for testing whether the performance requested by the owner is satisfied.

On the other hand, there are cases where the dynamic positioning control system 100 is changed due to various factors such as replacement / repair, re-programming, etc. of sensors, actuators, cranes mounted on the vessel, The modified dynamic positioning control system 100 may be difficult to integrate with other ship systems and may pose a risk to the ship.

Thus, it is necessary to periodically check whether the dynamic positioning control system 100 has been changed, and if so, to be able to receive a new authentication so as to preemptively prevent a potential danger to the ship. Therefore, by retesting the dynamic positioning control system 100 with the same test conditions as before to check whether the dynamic positioning control system 100 is operating as intended and whether new errors are likely to occur, It is necessary to confirm whether or not the dynamic position setting control system 100 has been changed.

Accordingly, the test condition module 261a of the present invention can be applied to the dynamic condition setting control system 100 when the conditions or limitations of many devices installed on the ship are changed and the performance of the dynamic position setting control system 100, It is possible to store complex and vast test conditions required during the HIL test to confirm whether the setting control system 100 has been changed.

That is, the test condition module 261a provides the verification system 200 with a test condition for an event (simulation situation) related to a normal or abnormal situation that may occur in the ship. An event may be provided to the actuator simulator 210 and the sensor simulator 240 simultaneously or selectively to test the dynamic positioning control system 100 for various simulation situations in accordance with an embodiment of the present invention.

The test result module 261b stores the simulated test results in the verification system 200. [ The test result is stored in the test result module 261b in conjunction with the test condition, and the test result for each constituent element of the ship such as the actuator simulator 210 and the sensor simulator 240 can be distinguished and stored.

On the other hand, when there is a need to repeatedly perform the test to check whether the dynamic position setting control system 100 that controls the devices by changing the conditions or limitations of a number of devices installed on the ship, Module 261b may store test results corresponding to extensive test conditions.

Accordingly, the test result module 261b can provide a test result corresponding to a wide range of test conditions to the report generation module 262 and the DP change confirmation module 263, thereby facilitating comparative analysis of test results, It is possible to easily confirm whether or not the control system 100 is changed so that the ship can be prevented from being operated in a state exposed to a potential danger.

The report result module 261c may store the report together with the date when the report generated by the report generation module 262 is tested. Accordingly, reports on test results corresponding to various conditions stored in the report result module 261c can be easily found by test date and utilized as comparative analysis data.

5, the report generation module 262 includes a report type generation module 2621, a report type storage module 2622, a report type calling module 2623, a test result input module 2624, and a report output module 2625 And automatically generates a report on the test results of the dynamic positioning control system 100. [

The report type generation module 2621 generates a report type based on the classification condition required for authenticating the performance of the dynamic position setting control system 100 or the report type according to the specification corresponding to the shipown requirement requested by the owner for the dynamic position setting control system 100 . The report type generation module 2621 may generate report types according to various standards.

The report type storage module 2622 stores the report generated by the report type generation module 2621 and transmits a report upon calling the report type calling module 2623 to the report type calling module 2623. [

The report type calling module 2623 calls the report type storage module 2622 with a report type conforming to the standard in response to the test conditions and the like.

 The test result input module 2624 inputs the test results corresponding to the test conditions and the like necessary for the report creation, including the test result real-time input module 2624a and the test result calling module 2624b.

The test result real-time input module 2624a may store the simulated test results in real time in the verification system 200. [ On the other hand, the test result calling module 2624b may invoke the test result already stored in the test result module 261b in the verification system 200.

The report output module 2625 generates a report by describing the test result input to the test result input module 2624 in the report type called by the report type calling module 2623. [

6, the DP change confirmation module 263 includes a test condition calling module 263a, a test result calling module 263b, and a DP comparison determination module 263c, .

In order to check whether the changed contents are operated as intended when the dynamic position setting control system 100 which controls the above devices by the sensors mounted on the vessel, the actuator replacement / repair, etc., and the like, The verification system 200 may perform a retest on the dynamic positioning control system 100 with the same test conditions as before. The test conditions and the corresponding test results are stored in the test condition module 261a and the test result module 261b, respectively.

The test condition calling module 263a calls the test condition module 261a with a condition for a mock situation related to a normal or abnormal situation that may occur in the ship.

The test result calling module 263b calls a plurality of test results corresponding to the test condition from the test result module 261b. The present invention is not limited to calling a plurality of test results according to the same test conditions for the dynamic positioning control system 100 but includes calling up a plurality of test results according to different test conditions.

The test result calling module 263b can call the component test results separately in order to analyze the influence of individual components such as the actuator simulator 210 and the sensor simulator 240 on the dynamic positioning control system 100 have. Here, the actuator simulator 210 and the sensor simulator 240 can provide the dynamic positioning control system 100 with a simulation situation corresponding to an actuator and a sensor mounted on an actual ship, respectively.

The DP comparison determination module 263c determines whether the conditions or limitations of many devices installed on the ship have changed and the performance of the dynamic positioning control system 100 controlling the devices has also been changed correspondingly, The test result of the changed dynamic position setting control system 100 can be compared with the initial test result and analyzed. Accordingly, when the dynamic positioning control system 100 is reprogrammed, it is possible to check whether the changed contents are operating as intended and whether there is a possibility of occurrence of a new error.

In addition, the DP comparison determination module 263c compares and analyzes various test results simulated by the verification system 200 according to the specification of the dynamic positioning control system 100, (100). ≪ / RTI >

When the DP comparison determination module 263c compares and analyzes the test results and determines that the dynamic positioning control system 100 has been changed, the changed dynamic positioning control system 100 needs a new authentication.

Accordingly, the DP comparison determination module 263c can determine whether the dynamic positioning control system 100 is a re-authentication target before receiving the new authentication. If the changed dynamic position setting control system 100 is compared with the previous dynamic position setting control system 100, the changed dynamic position setting control system 100 can be mounted on a ship without requiring re-authentication, If a difference occurs and it is determined that the difference exceeds the allowable range, the DP comparison determination module 263c can determine that the changed dynamic location setting control system 100 is the re-authentication target.

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.

100: dynamic positioning control system (DPC) 200: verification system
210: actuator simulator 220: PMS simulator 230: ship simulator 240: sensor simulator
250: analog signal simulator 260: data collecting unit
261: Data storage module 262: Report generation module 263: DP change confirmation module

Claims (13)

A verification system for verifying a dynamic positioning control system for generating a control signal including a final destination information of a ship based on a simulated sensor signal,
The verification system includes an actuator simulator for receiving a control signal and producing a modeled control signal, a ship simulator for performing a ship motion analysis by receiving the modeled control signal, a sensor simulator for measuring a simulated sensor signal in the ship simulator, An analog signal simulator for converting analog data into data of a communication type and transmitting the data to the actuator simulator, and a data collector for storing test conditions,
The data collecting unit includes a data storing module for storing data necessary for performing a test, and a DP change checking module for calling data stored in the data storing module to compare and analyze the test results.
Wherein the data storage module includes a test condition module for storing test conditions and a test result module for storing the test results in conjunction with the test conditions,
The DP change confirmation module includes a test condition calling module for calling a test condition stored in a data storage module and a test result calling module for calling a test result, A verification system for a dynamic positioning control system of a ship having an analog signal simulator capable of preventing a ship from being operated in a state in which the ship is exposed to a potential danger. delete The apparatus of claim 1, wherein the data collector
And a report generation module for automatically generating a report on test results for the dynamic positioning control system,
The report generation module includes a report type generation module that generates a report type according to a standard corresponding to the classification regulatory condition required to authenticate the performance of the dynamic location setting control system, and automatically generates a report by analyzing the stored test result A verification system for a dynamic position setting control system of a ship having an analog signal simulator for deriving a modeled control signal and a reliable test result for a simulated sensor signal. The apparatus of claim 1, wherein the data collector
And a report generation module for automatically generating a report on test results for the dynamic positioning control system,
The report generation module includes a report type generation module that generates a report type according to a standard corresponding to a shipowner's request requested by the owner, analyzes the stored test result and automatically generates a report to generate a modeled control signal and a simulated sensor signal A verification system for a dynamic position setting control system of a ship having an analog signal simulator for deriving reliable test results. 5. The method of claim 3 or 4, wherein the report generation module
A report type storing module for storing a report generated by the report type generating module, a report type calling module for receiving a report type corresponding to a test condition by calling the report type storing module in a call in response to a test condition, A test result input module including a real-time input module for storing a test result simulated in real time and a test result calling module for calling a test result stored in the test result module; And a report output module for generating a report by describing the test result inputted to the input module by the test result. By analyzing the stored test result and generating a report automatically, a control signal that is modeled and a reliable test result for the simulated sensor signal To derive Verification system for dynamic position setting control system of ship with analog signal simulator. delete 6. The apparatus of claim 5, wherein the DP change confirmation module comprises:
A DP comparison determination module for comparing and analyzing the called test result, and analyzing the stored test result to automatically generate a report, thereby generating an analog signal for deriving a modeled control signal and a highly reliable test result for the simulated sensor signal A Verification System for Dynamic Positioning Control System of Ship with Simulator. delete delete delete 2. The method of claim 1,
A single analog interface including signal information for controlling at least one of a shaft speed and a rotation direction of the actuator is provided to thereby provide a simulated situation similar to that of an actual ship so as to accurately test the modeled control signal and the simulated sensor signal A Verification System for Ship 's Dynamic Positioning Control System with Analog Signal Simulator to Obtain Results. The apparatus of claim 1, wherein the sensor simulator
A plurality of GPS sensors for measuring the position of the ship by measuring signals from the satellites and a plurality of underwater acoustic sensors for measuring the position of the ship by measuring signals from a device installed on the seabed, To provide a simulated situation similar to that of an actual ship and to obtain accurate test results for modeled control signals and simulated sensor signals. 2. The apparatus of claim 1, wherein the analog signal simulator
The communication type data is converted into analog type data and transmitted to the dynamic location setting control system to provide a single analogue interface integrated to provide a simulated situation similar to that of an actual ship, A Verification System for Ship 's Dynamic Positioning Control System with Analog Signal Simulator to Obtain Test Results.

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