CN101373491A - Test emulation system of marine vehicle movement control algorithm - Google Patents
Test emulation system of marine vehicle movement control algorithm Download PDFInfo
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- CN101373491A CN101373491A CNA2008100118578A CN200810011857A CN101373491A CN 101373491 A CN101373491 A CN 101373491A CN A2008100118578 A CNA2008100118578 A CN A2008100118578A CN 200810011857 A CN200810011857 A CN 200810011857A CN 101373491 A CN101373491 A CN 101373491A
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Abstract
The invention relates to a ship motion control algorithm test simulation system, which consists of a ship model setting and testing module, a control algorithm loading and testing module, a ship motion mathematical model module, a ship course and path curve display interface and a ship motion virtual reality simulation scene. The ship model setting and testing module and the control algorithm loading and testing module are in two-way data connection with the a ship motion mathematical model module; the ship motion mathematical model module transmits data to the ship course and path curve display interface and the ship motion virtual reality simulation scene unidirectionally; and the ship course and path curve display interface and the ship motion virtual reality simulation scene can transmit data to the ship model setting and testing module, and the control algorithm loading and testing module unidirectionally. The simulation system brings convenience to the improvement of control algorithm, reduces the frequencies of sea trial and the experimental cost, shortens the development cycle and accelerates the application of advanced control theories in practical engineering.
Description
Technical field
The present invention relates to a kind of test emulation system of marine vehicle movement control algorithm of high confidence level.
Background technology
Because the expense of ship's navigation prototype testing is very high, so most of ship motion control theory worker can only carry out simulation study.Simulation work person is on the high side to the research of control algolithm, research to controlled device is on the low side, and the not high simulation fidelity of total system that directly causes of controlled device fidelity is not high, so just caused test of heuristics emulation conclusion confidence level not high, reduced the degree of recognition of engineering staff, thereby delayed some advanced control theories in actual application in engineering to control theory worker work.Control System Imitation belongs to the field that control theory and emulation technology are intersected, but the current problem that seldom has the control theory worker that a system emulation is used as in Control System Imitation is handled, and common simulation theory worker is difficult to be engaged in the relevant work of control theory, this has influenced the application of advanced simulation theory in this crossing domain of Control System Imitation to a certain extent, has also caused Control System Imitation to exist the problem of " simulation Credibility is not high ".
Summary of the invention
The present invention is directed to this concrete problem of ship motion control emulation, check, checking and checking and accepting technology based on system modelling and emulation, the test emulation system of marine vehicle movement control algorithm of the high confidence level of development one cover quickens advanced control theory and controls Application for Field at ship motion.
The test emulation system of marine vehicle movement control algorithm of a kind of high confidence level of the present invention mainly has following function:
(1) input of the selection of ship type and real ship data.This analogue system provides 5446TEU Large Container Ship and two kinds of ship types of 30,000 tons of oil tankers, and the user also can import not shipmate type and real ship data as required voluntarily.
(2) selection of ship motion mathematical model and calculation of parameter.According to the various objectives and the requirement of test of heuristics, the user can select dissimilar models, and native system provides two kinds of ship motion models: response model and disjunctive model.After the user had selected ship type and mathematical model kind, native system just can calculate and demonstrate all parameter values of corresponding ship model.
(3) test of ship model.Native system can carry out boats and ships gyration emulation, Z type experiment simulation, with the prototype testing data relatively, but the just validity of test model.
(4) loading of control algolithm and test.Native system provides control modules commonly used such as PID control, adaptive control, fuzzy control; The user only needs self-designed control algolithm form in accordance with regulations is compiled into dynamic link libraries, just can join in this platform.According to the difference of control algolithm, the user can carry out ship course and ship track control emulation testing; Platform also provides one " event editor ", can make things convenient for the user to carry out more complicated incident emulation testing.In test process, the user can observe course, rudder angle, the isoparametric dynamic data of ship's speed and show curve, can observe ship motion virtual reality emulation scene simultaneously, can test, optimize and improve control algolithm in view of the above.
(5) preservation of historical data.In test process, the important dynamic data of ship motion state can be preserved, be convenient to later further research and use.
Technical scheme of the present invention is: test emulation system of marine vehicle movement control algorithm, mainly form by loading and test module 2, ship motion mathematical model module 3, ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5 five parts of the setting of ship model and test module 1, control algolithm.The setting of ship model is carried out bi-directional data with ship motion mathematical model module 3 with the loading of test module 1, control algolithm respectively with test module 2 and is connected; Ship motion mathematical model module 3 one-way transmission data are to ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5; But simultaneously ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5 all the one-way transmission data to the setting of ship model and the loading and the test module 2 of test module 1 and control algolithm.The loading of the setting of described ship model and test module 1, control algolithm and test module 2, ship motion mathematical model module 3 and ship course and flight path curve display interface 4 usefulness VC++ exploitation, described ship motion virtual reality emulation scene 5 is realized by VC++ and Vega hybrid programming.
The principle of work of the test emulation system of marine vehicle movement control algorithm of a kind of high confidence level of the present invention is:
The test of ship model: at first select suitable ship types according to different setting and the test modules 1 of test purpose by ship model with requirement, calculate the boats and ships parameter and be transferred in the ship motion mathematical model module 3, then ship motion mathematical model module 3 is carried out boats and ships revolution experiment simulation, simulation result outputs in ship course and flight path curve display interface 4 and the ship motion virtual reality emulation scene 5 simultaneously, The simulation experiment result and prototype testing data are compared, when the turning circle course error less than a captain time, think that then the ship motion mathematical model of being set up is effectively, otherwise invalid.
The test of control algolithm: after having set up effective ship motion mathematical model, just can carry out the test of control algolithm.At first loading and the test module 2 by control algolithm loads the control algolithm that needs test, constitute closed-loop control system with ship motion mathematical model module 3 then, by " event editor " conditions such as ship's navigation environment, ship turning point are provided with, then carry out ship motion control emulation, simultaneously simulation result is outputed in ship course and flight path curve display interface 4 and the ship motion virtual reality emulation scene 5, simulation results such as ultimate analysis steamer line, flight path and dynamic data, and the control characteristic of judgement institute Loading Control algorithm.
Advantage of the present invention with beneficial effect is: compare with common test of heuristics simulation process, test emulation system of marine vehicle movement control algorithm of the present invention has increased the work of many emulation, the purpose of emulation that wherein selection of multiple model is clear and definite, and proper model can more effectively be carried out test of heuristics; Can improve simulation fidelity significantly to the integrality of model and the requirement of accuracy; " test of incident simulation algorithm " can both better be tested for robustness, the adaptivity of control algolithm in the enterprising line algorithm test of continuous time shaft.
The actual simulation work that belongs to of the test job of ship model in the native system, do not comprise too many control theory knowledge, and has certain versatility, can fulfil ahead of schedule, can construct the control system of effective, the high confidence level of a cover in advance, change control algolithm then and test the control effect and just can obtain the higher algorithm conclusion analysis of confidence level.Therefore, this analogue system can reduce a large amount of repetitive operation of marine system Control Study person, help researcher to carry out the marine vehicle movement control algorithm emulation testing more fast and effectively, make things convenient for control algolithm to improve, obtain the higher emulation testing conclusion of confidence level, thereby realize reducing the sea trial number of times, reduce experimentation cost, shorten the construction cycle, quicken advanced control theory in actual application in engineering.
Description of drawings
Below in conjunction with accompanying drawing the present invention is done description in further detail:
Fig. 1 is the composition structured flowchart of the test emulation system of marine vehicle movement control algorithm of a kind of high confidence level of the present invention.
Among the figure: 1, the setting of ship model and test module, 2, the loading and the test module of control algolithm, 3, the ship motion mathematical model module, 4, ship course and flight path curve display interface, 5, ship motion virtual reality emulation scene.
Embodiment
As shown in Figure 1, the test emulation system of marine vehicle movement control algorithm of a kind of high confidence level of the present invention mainly is made up of loading and test module 2, ship motion mathematical model module 3, ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5 five parts of the setting of ship model and test module 1, control algolithm.The setting of ship model is carried out bi-directional data with ship motion mathematical model module 3 with the loading of test module 1, control algolithm respectively with test module 2 and is connected; Ship motion mathematical model module 3 one-way transmission data are to ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5; But simultaneously ship course and flight path curve display interface 4 and ship motion virtual reality emulation scene 5 all the one-way transmission data to the setting of ship model and the loading and the test module 2 of test module 1 and control algolithm.
3 designs of ship motion mathematical model module have realized response type model, the open country model of Three Degree Of Freedom MMG model and four-degree-of-freedom.
Ship course and flight path curve display interface 4 can show course, flight path, order rudder angle, actual rudder angle, engine speed, the speed of a ship or plane,, and isoparametric real time data and curve.
One, the design and the realization of the setting of ship model and test module 1
1. the selection of model
This analogue system is divided into two kinds of response type model and disjunctive models with model, because the Nomoto model is too simplified, seldom uses in recent years, so response type model herein refers in particular to the Norrbin model; Disjunctive model can be divided into the open country model of Three Degree Of Freedom MMG model and four-degree-of-freedom in the use of emulation.
2. the input of model important parameter
Analogue system realizes the access of data by " opening " and " preservation " button; The important parameter of model comprises boats and ships self parameter and ocean wave parameter; Parameter herein just can import in the analogue system by clicking " parameter is confirmed correct " button.COSCO Shanghai number and the significant datas 30,000 tons of oil tankers that have 5446TEU series container in the native system can use for the user.
3. modelling verification
Because the difference of model, carry out so be divided into Norrbin model, Three Degree Of Freedom MMG model and three kinds of situations of four-degree-of-freedom open country model during checking.But, because Norrbin response type model itself is a permanent model, and in the revolution experiment, main frame all is the operation of stand oil door usually, the whole revolution speed of a ship or plane in service all can have bigger variation, the scope that has exceeded the model perturbation, so the revolution experiment of carrying out based on the Norrbin model is divided into two kinds, a kind of is to decide the revolution of parameter N orrbin model, a kind of is the revolution of variable element Norrbin model, in variable element Norrbin model, the parameter that changes the Norrbin model by time slice be similar to the reduction of speed of boats and ships in turning round.
(1) decides parameter N orrbin model revolution experiment
Since the Norrbin model itself be one at the uniform velocity decide parameter model, so adopting the Norrbin model to turn round experiment itself is exactly certain difficulty, but in order to compare these several models, native system can carry out deciding the emulation revolution experiment of parameter N orrbin model.
(2) variable element Norrbin model revolution experiment
In order to show the process of reduction of speed in the boats and ships turning course, native system can adopt the way of segmentation variable element, promptly according to boats and ships data and prototype testing data, calculates the model parameter under the different speed of a ship or plane, and in the revolution experiment, different parameters is adopted in segmentation then.
(3) the open country model revolution experiment of Three Degree Of Freedom MMG model and four-degree-of-freedom
Because Three Degree Of Freedom MMG model and four-degree-of-freedom open country model all are time-varying models, so when providing the revolution lab diagram, provide data and curves figure in the emulation revolution experiment.In based on the data and curves figure in the revolution experiment of Three Degree Of Freedom MMG model, provide the curve map of course, the speed of a ship or plane, engine speed, based on the curve map of adding roll angle among the data and curves figure in the revolution experiment of Three Degree Of Freedom MMG model.
Two, the design and the realization of the loading of control algolithm and test module 2
How making things convenient for the user to load new algorithm fast, is an important content of analogue system of the present invention.If the control algolithm of system still needs the mode of user oneself by adding code in the algorithm write-in program, this obviously is can't be gratifying, and native system adopts and comes loading algorithm by the mode of dynamic link library (DLL).
The title of dynamic link library can be appointed according to the content of writing algorithm and got, but must comprise the structure of a ShipState by name in the dynamic link library, writes control algolithm simultaneously in the function of called after Controller ().Algorithm is by the pointer m_PShipState of definition shape such as ShipState * m_PShipState form, come and the program swap data, actual heading or flight path that algorithm needs, the data of set course or flight path all can obtain by pointer m_PShipState, the intermediate variable that algorithm need be stored is placed in the ComputeStatePara array, and the controlled quentity controlled variable that calculates at last is kept among the variable R udderD.
struct?ShipState
{ double nowCourseDirect; // current course
Double SetCourseDirect; // set course
Double CourseError; // current course deviation;
Double LastCourseError; // last moment course deviation;
Double CourseErrorChange; // course deviation rate of change (differential)
Double CourseErrorChangeSum; // course deviation rate of change integration
Double RudderD; // rudder angle
Double MovingU; // longitudinal velocity
Double ErrorX; The deviation of // position x
Double ErrorY; The deviation of // position y
Double ErrorLocation; The deviation of // current location
Double LastErrorLocation; The deviation an of // last moment position
Double LocationErrorChange; // position deviation rate of change (differential);
Double LocationErrorChangeSum; / position deviation rate of change integration
Double h; // simulation step length
Double ComputeStatePara[100]; // intermediate variable
Double t; // simulation time
}；
void?Controller(ShipState?*m_PShipState)
{ // user control algolithm program
}
Aspect the control algolithm test, the present invention proposes state simulation test of heuristics and two kinds of methods of incident simulation algorithm test, is defined as follows
The state simulation test of heuristics: be to set up after the analogue system, under certain imposing a condition, the research control algolithm is generally the method for testing of the control effect under the step signal at certain list-signal.
Incident simulation algorithm test: be to set up after the analogue system, under certain imposing a condition, on time shaft, study controlled device in the process of carrying out a series of activities, the method for testing of the control effect of control algolithm under multiple signal.
Designed an event editor at incident simulation algorithm test native system.If mainly study ship course control, flight path control, the main activities that influences the boats and ships of ship motion control so is exactly that main frame is handled, and extraneous main influence is exactly wind, wave, flow disturbance variation, designed " event editor " be one and make things convenient for the user, as long as adjust the dialog box that Several Parameters just can a series of activities of emulation reality ship.By the mode of " event editor ", the user can realize " test of incident simulation algorithm " apace, and in whole event, engine speed and wind, wave, stream external interference can repeatedly change.Though the input content increases, the effect of emulation more approaches actual conditions like this, and higher confidence level is arranged.
Three, the design of ship motion virtual reality emulation scene 5 and realization: this module is realized by VC++ and Vega hybrid programming.
Vega is the level application software tools advanced in the world that U.S. Multigen-Paradigm company is used for virtual reality, real-time real scene simulation, sound simulation and other visual fields.It supports complicated fast visual simulation program, a kind of convenient means of complex simulation incident can be provided for the user, it combines easy-to-use instrument and senior copying dexterously, makes the user promptly create, edit and move complicated emulation application with shirtsleeve operation.Because Vega has reduced the programming of source code significantly, the further optimization of the maintenance of software and real-time performance is become be more prone to, thereby improved work efficiency greatly.
Vega provides a lot of functional modules, and each module has interface easily.Wherein Vega ocean emulation module provides perfect dynamic and static ocean model, regional vector and various oceans special-effect etc. for realizing ocean emulation true to nature, use ocean emulation module user to develop quickly and have creationary ocean Simulation Application, all ocean effects can be provided with easily by the graphical interfaces of expansion, are perhaps controlled by the application programming interface of this module in real time.
Native system utilizes Vega exploitation ship motion virtual scene based on the SDI framework of VC++.
The program main frame is
main(intargc，char*argv[])
{
VgInitSys (); / * initialization Vega the * of system/
VgInitMarine (); / * initialization ocean module */
VgInitFx (); / * call special efficacy module */
VgDefineSys (argv[1]); / * define system: read ADF file */
VgConfigSys (); / * system configuration */
While (1)/* major cycle */
{ vgSyncFrame (); / * frame synchronization */
VgFrame (); Carry out under/* the present frame all inter-process work */
/ * application program specific implementation code */
}
}
Designed have following function with the ship motion virtual reality emulation scene that realizes: the ocean color tunable, and classification of seas is adjustable, the boats and ships tail, sky is variable, and light is adjustable, and various visual angles are observed the boats and ships athletic posture, the motion of boats and ships four-degree-of-freedom, and the real time kinematics of rudder and stabilizer.
Claims (2)
1. test emulation system of marine vehicle movement control algorithm, it is characterized in that, mainly be made up of with flight path curve display interface (4) and ship motion virtual reality emulation scene (5) loading and test module (2), ship motion mathematical model module (3), the ship course of the setting of ship model and test module (1), control algolithm, the setting of ship model is carried out bi-directional data with ship motion mathematical model module (3) with the loading of test module (1), control algolithm respectively with test module (2) and is connected; Ship motion mathematical model module (3) one-way transmission data are to ship course and flight path curve display interface (4) and ship motion virtual reality emulation scene (5); Simultaneously ship course and flight path curve display interface (4) and ship motion virtual reality emulation scene (5) but all the one-way transmission data to the setting of ship model and the loading and the test module (2) of test module (1) and control algolithm.
2. test emulation system of marine vehicle movement control algorithm according to claim 1, it is characterized in that, the loading of the setting of described ship model and test module (1), control algolithm and test module (2), ship motion mathematical model module (3) and ship course and flight path curve display interface (4) are realized by VC++ and Vega hybrid programming with VC++ exploitation, described ship motion virtual reality emulation scene (5).
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| CN101819441A (en) * | 2010-04-16 | 2010-09-01 | 大连海事大学 | Hardware in-loop simulation system for comprehensive optimization control of main power and manipulation of ship |
| CN102156412A (en) * | 2010-12-29 | 2011-08-17 | 哈尔滨工程大学 | Motion visual simulation method for underwater super-cavity vehicle |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN104881040A (en) * | 2015-05-15 | 2015-09-02 | 长沙理工大学 | Ship track tracking prediction control method inhibiting parametric rolling actively |
| CN107272446A (en) * | 2017-08-03 | 2017-10-20 | 爱普（福建）科技有限公司 | The emulation platform and emulation mode of a kind of Control-oriented algorithm |
| RU2690628C1 (en) * | 2018-03-12 | 2019-06-04 | Василий Андреевич Егоров | Shipboard electromechanical control system |
| CN110221546A (en) * | 2019-05-21 | 2019-09-10 | 武汉理工大学 | The ship intelligence control system test platform of virtual reality fusion |
| CN111159813A (en) * | 2019-12-18 | 2020-05-15 | 智慧航海（青岛）科技有限公司 | Simulation-based flow-solid coupling analysis method and system for ship slamming on wave |
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| CN111488708A (en) * | 2020-04-28 | 2020-08-04 | 中国船舶科学研究中心 | Virtual test application service system and method for marine electromechanical equipment |
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- 2008-06-13 CN CN200810011857A patent/CN100583105C/en not_active Expired - Fee Related
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| CN102156412B (en) * | 2010-12-29 | 2012-08-22 | 哈尔滨工程大学 | Motion visual simulation method for underwater super-cavity vehicle |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN104881040A (en) * | 2015-05-15 | 2015-09-02 | 长沙理工大学 | Ship track tracking prediction control method inhibiting parametric rolling actively |
| CN107272446A (en) * | 2017-08-03 | 2017-10-20 | 爱普（福建）科技有限公司 | The emulation platform and emulation mode of a kind of Control-oriented algorithm |
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| CN110221546B (en) * | 2019-05-21 | 2020-11-20 | 武汉理工大学 | Virtual-real integrated ship intelligent control system test platform |
| CN110221546A (en) * | 2019-05-21 | 2019-09-10 | 武汉理工大学 | The ship intelligence control system test platform of virtual reality fusion |
| CN111159813A (en) * | 2019-12-18 | 2020-05-15 | 智慧航海（青岛）科技有限公司 | Simulation-based flow-solid coupling analysis method and system for ship slamming on wave |
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