CN102298348A - Digital controller for combination control system by rudder and wing rudder or fin and wing fin of ship and control method thereof - Google Patents
Digital controller for combination control system by rudder and wing rudder or fin and wing fin of ship and control method thereof Download PDFInfo
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Abstract
The invention provides a digital controller for combination control system by a rudder and a wing rudder or a fin and a wing fin of a ship and a control method thereof, wherein the controller can be used for improving a ship course and a rolling control effect. The digital controller utilizes three sheets of DSP controllers as a master control circuit and each DSP controller is composed of a power supply interface circuit, a reset circuit, an external interruption circuit, a JTAG circuit, and a clock circuit. The power supply interface circuit is connected with a power supply base pin of the master control circuit; a pin (7) of the reset circuit is connected with a pin (176) of the master control circuit; pins (9, 11) of the JTAG circuit are connected with a pin (193) of the master control circuit; pins (29, 30) of the external interruption circuit are connected with the pin (7) and a pin (2) of the master control circuit; pins (5, 6) of a programmable clock generator of the clock circuit are connected with pins (204, 78) of the master control circuit and a pin (3) of a phase-locked loop crystal oscillator is connected with a pin (202) of the master control circuit; and the master control circuit is communicated with an upper computer and a lower computer by a UART. In addition, the invention also comprises a control method for the digital controller of the combination control system. According to the invention, integrated coordination and control of a rudder and a wing rudder or a fin and a wing fin are utilized, so that a ship course and a rolling control effect can be improved and thus reliability and navigability of the system can be enhanced.
Description
Technical field
The present invention relates to a kind of digitial controller that improves ship's navigation and attitude, particularly a kind of boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller and control method.
Background technology
In attitude of ship control, course control is the most basic, no matter which kind of boats and ships for finishing various missions, must carry out course control.Ship course control mainly is to realize by control steering campaign.In addition, rolling motion all seriously influences the hit rate of marine operation safety, crewman's comfort and defense preparations system, and in order to reduce rolling motion effectively, marine engineers have designed various stabilizers.A kind of effective measures of ship stabilization are to adopt active fin stabilizing system.
In order to improve the maneuvering performance of boats and ships, rudder and wing rudder or fin and wing fin are by increasing the little chain of command-wing rudder or the wing fin of a relatively independent motion on rudder or fin, improving the hydrodynamic performance of rudder or fin.By the hydrodynamic force experiment as can be known, the pass of accessible lift of rudder or fin and camber is: within the specific limits, the lift value that same angle is issued to increases with camber.Adopt rudder and wing rudder or fin and wing fin comprehensive coordination control can improve ship course and rolling control effect.By the intelligent optimization design at rudder angle and wing rudder angle, fin angle and wing fin angle, reduce the motion amplitude of main rudder, main fin as far as possible, required uprighting moment is finished by little chain of command wing rudder, the motion of wing fin, cuts down the consumption of energy thereby reach, and improves system reliability.Union Movement by rudder and wing rudder or fin and wing fin can improve the ability of righting of rudder or fin greatly, thereby makes auto-pilot control system and the Control System of Ship Fin still can operate as normal, improves course and rolling control effect, improves the sea keeping quality of system.
Existing control technology to rudder and wing rudder, fin and wing fin is respectively based on boats and ships yawing motion model and rolling motion modelling course control system and roll damping system, do not consider the coupling influence of course and rolling between two systems, do not utilize yet rudder and wing rudder to rolling subtract the ability of shaking and fin and wing fin ability of righting to the course, make that like this maneuverability of boats and ships greatly reduces.
Summary of the invention
The object of the present invention is to provide a kind of boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller and the control method that can improve ship course and rolling control effect.
The object of the present invention is achieved like this:
A kind of boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller, as main control circuit, every dsp controller comprises power interface circuit, reset circuit, jtag circuit and two parallel communications McBSP modules by three dsp controllers; Power interface circuit links to each other with the power pin of main control circuit; The pin 7 of reset circuit MAX706RCSA links to each other with the pin 176 of dsp controller; Jtag circuit pin 9 with 11 and connect the back link to each other with the pin 193 of governor circuit, pin 1,2,3,7,13,14 links to each other with the pin 192,197,191,187,186,185 of dsp controller respectively; Every dsp controller also comprises clock circuit, is made of CY22381 programmable clock generator and EXCCET103U phaselocked loop crystal oscillator; CY22381 programmable clock generator pin 5 links to each other with the pin 204 of governor circuit, and CY22381 programmable clock generator pin 6 links to each other with the pin 78 of governor circuit; EXCCET103U phaselocked loop crystal oscillator pin 3 links to each other with the pin 202 of governor circuit; Main control circuit is communicated by letter with upper and lower computer by asynchronism transceiver UART, and asynchronism transceiver UART comprises a slice TL16C752B chip, two MAX3160 chip U9 and U10, two UART interfaces; The TL16C752B chip comprises outer interrupt circuit, the pin 30,29 of outer interrupt circuit is connected on the pin 2,7 of dsp controller by the first switch JP1 and second switch JP2 respectively, and pin 19,15,36 links to each other with the pin 79,83,176 of dsp controller respectively; TL16C752B pin of chip 1 to 3,44 to 48 is connected on respectively on the pin 128,121,122,132,131,130,129,127 of dsp controller; TL16C752B chip pin 26 to 28 links to each other with the pin 64,63,62 of dsp controller respectively.
Load matched the 3rd capacitor C 3 of the crystal oscillating circuit of the CY22381 programmable clock generator of described clock circuit, the 4th capacitor C 4 one end ground connection other ends link to each other with the pin 3,4 of CY22381 programmable clock generator by 20MHz crystal oscillator Y1, the pin 7,8 of CY22381 programmable clock generator connects the 3.3V high level, pin 2 ground connection; The pin 1 of the EXCCET103U phaselocked loop crystal oscillator of described clock circuit connects high level, pin 2 ground connection, and pin 3 is that output pin links to each other with the pin 202 of main control circuit simultaneously through electrochemical capacitor CT1 and first capacitor C, 1 ground connection.
Described reset circuit MAX706RCSA adopts button hand-reset mode to reset; Reset circuit MAX706RCSA pin 1 connects the 3.3V high level by the 7th pull-up resistor R7, and by reset key SW1 ground connection; Reset circuit MAX706RCSA pin 2 connects the 3.3V high level, and pin 3,4 one ends connect 3.3V high level other end ground connection by second capacitor C 2.
The chip TL16C752B pin 7 and 8,33 and 22,5 and 4,38 and 23,34 and 35 of described asynchronism transceiver UART connects 16,15,8,7,10 pins of 2 MAX3160 chips respectively; Every MAX3160 pin of chip 5,6,13,14 links to each other with the pin 1,6,5,4 of UART interface; The asynchronous communication of U9 control A channel, U10 control B tunneling traffic mode; U9 pin 11 links to each other with the 3.3V power supply by the 5th pull-up resistor R5, and by the 3rd switch JP3 ground connection, U10 pin 11 links to each other with the 3.3V power supply by the 7th pull-up resistor R7, and by the 4th switch JP4 ground connection; U9 pin 9 connects the 3.3V high level by the 4th pull-up resistor R4, and U10 pin 9 connects the 3.3V high level by the 6th pull-up resistor R6; Connect the 5th capacitor C 5 between the U9 pin 1 and 3, connect the 9th capacitor C 9 between the U10 pin 1 and 3; Connect the 6th capacitor C 6 between the U9 pin 18 and 19, connect the tenth capacitor C 10 between the U10 pin 18 and 19; Pin 4 ground connection, pin 2 connects the 3.3V high level, connects second resistance R 2 and the 3rd resistance R 3 between the U9 pin 5 and 6,13 and 14 respectively, connects the 8th resistance R 8 and the 9th resistance R 9 between the U10 pin 5 and 6,13 and 14 respectively; U9 pin 20 and 17 is respectively by the 3rd capacitor C 3 and the 4th capacitor C 4 ground connection, and U10 pin 20 and 17 is respectively by the 7th capacitor C 7 and the 8th capacitor C 8 ground connection.
Described three dsp controllers are as main control circuit, and wherein a slice dsp controller is a master controller; The parallel communications McBSP module pin 16 of master controller is linked to each other with other two parallel communications McBSP module pins 19,24,27 from dsp controller respectively with 32 with 33,21 and 31,20, two are linked to each other with 38 with 37,19 and 36,24 with the parallel communications McBSP module pin 27 of master controller respectively from the parallel communications McBSP module pin 20,16,21 of dsp controller.
A kind of control method based on boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller, as main control circuit, every dsp controller comprises power interface circuit, reset circuit, jtag circuit and two parallel communications McBSP modules by three dsp controllers for described boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller; Its control method comprises following steps: at first detecting the boats and ships pose status data that obtains respectively by course pick-up unit and rolling detection device in the human-computer interaction interface, be sent in the digitial controller UART module through asynchronous serial communication interface, the boats and ships pose status data that utilization is imported in the dsp controller is regulated through robust regulator, obtains needed yawing uprighting moment and rolling uprighting moment; Consider the restriction of spacing and rudder speed with wing rudder speed or the fin speed and the wing fin speed at rudder angle and wing rudder angle or fin angle and wing fin angle then, obtain the allocation rule at rudder angle and wing rudder angle or fin angle and wing fin angle, utilize paralleling genetic algorithm, be met rudder and wing rudder or the fin and the wing fin distribution instruction of the minimum equation of system drive energy; Through asynchronous serial communication rudder and wing rudder or fin and wing fin servo-drive system are passed in instruction again, realize control ship course and rolling.
Described robust regulator is according to boats and ships yawing and the linear coupled motions model of rolling, utilizes and calculates ship course and rolling H by the LMI tool box among the Matlab
2/ H
{The feedback of status robust regulator is:
Wherein: ψ is a course angle,
Be course angle speed,
Be roll angle,
Be angular velocity in roll, P
y(α
r, β
r) be the yawing uprighting moment, L
f(α
f, β
f) be the rolling uprighting moment.
Described allocation rule is to determine that with the restriction of the wing fin speed rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule are as follows with wing rudder speed or fin speed according to the spacing and rudder speed at the minimum equation of system drive energy and consideration rudder angle and wing rudder angle or fin angle and wing fin angle:
Wherein
Be the yawing uprighting moment value and the rolling uprighting moment value of rudder and wing rudder or fin angle and the generation of wing fin angle,
Be yawing or the rolling uprighting moment value that calculates by course and rolling robust regulator,
Be respectively k+1 rudder angle or fin angle and wing rudder angle or wing fin angle constantly, α
Max, β
MaxBe respectively hard over angle or fin angle and maximum wing rudder angle or wing fin angle,
Be respectively maximum rudder speed or fin speed and maximum wing rudder speed or wing fin speed,
Be sampling interval,
Be energy drives.
Described paralleling genetic algorithm produces initial population according to rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule, and utilizes the buffering serial line interface McBSP of dsp controller in main dsp controller, with its individual mean allocation to 2 from dsp controller; Recombinate respectively then and intersect and the variation computing, it is individual to produce a new generation, and satisfies " driving the energy minimum " principle and calculate fitness, and the result is passed to primary processor, keeps the best individuality of its fitness; Exchange the requirement that optimum individual accelerates to satisfy end condition every five generations from dsp controller.
The minimum equation of described system drive energy is:
Wherein: α (k) and β (k) are respectively k rudder angle or fin angle and wing rudder angle or fin angle constantly,
With
Be respectively
Rudder angle or fin angle and wing rudder angle or fin angle constantly, M
T, M
The T wingBe respectively the driving moment of rudder or fin, wing rudder or fin servo-drive system.
The invention has the advantages that:
Adopt rudder and wing rudder or fin and wing fin comprehensive coordination control can improve ship course and rolling control effect.Adopt genetic algorithm to distribute rudder angle and wing rudder angle, fin angle and wing fin angle have reduced the motion amplitude of main rudder, main fin, and required uprighting moment is moved and finished by little chain of command wing rudder, wing fin, cut down the consumption of energy the effect of raising system reliability thereby reach.Union Movement by rudder and wing rudder or fin and wing fin can improve the ability of righting of rudder or fin greatly, thereby makes auto-pilot control system and the Control System of Ship Fin still can operate as normal, improves course and rolling control effect, improves the sea keeping quality of system.Host computer can obtain the pose data of boats and ships in real time simultaneously, makes operating personnel can monitor the ruuning situation of boats and ships in real time.
Description of drawings
Fig. 1 is ship course and rolling-rudder and wing rudder or fin and wing fin controller system structural drawing;
Fig. 2 is the main control unit schematic diagram;
Fig. 3 is a UART element circuit schematic diagram;
Fig. 4 is parallel communications module hardware design concept figure;
Fig. 5 is a main program flow chart;
Fig. 6 is the asynchronous serial communication process flow diagram;
Fig. 7 is the paralleling genetic algorithm software flow pattern;
Fig. 8 is a McBSP module communication process flow diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described:
In conjunction with Fig. 1, the present invention includes digitial controller part and communications portion.Wherein, digitial controller partly is to utilize ship course and rolling robust H
2/ H
{The LMI tool box of control system mathematical model in MATLAB calculates ship course and rolling H
2/ H
{The feedback of status robust regulator with roll angle and the course angle that obtains by course and rolling detection device in the human-computer interaction interface, is regulated through robust regulator, obtains needed yawing uprighting moment value and rolling uprighting moment.Again by rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule design rudder angle and wing rudder angle or fin angle and wing fin angle intelligent decision device, distribute the rudder and wing rudder or fin and the wing fin distribution instruction that satisfy the minimum principle of energy, be used to control rudder and wing rudder or fin and wing fin servo-drive system.
Communications portion is responsible for the data asynchronous serial communication between dsp controller and human-computer interaction interface, course and roll attitude pick-up unit, rudder and wing rudder or fin and wing fin servo-drive system, and digitial controller McBSP module between buffered serial port communication.
In conjunction with Fig. 2, as main control circuit, every dsp controller comprises power interface circuit, reset circuit, jtag circuit and two parallel communications McBSP modules with dsp controller for boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller; Power interface circuit links to each other with the power pin of main control circuit; The pin 7 of reset circuit MAX706RCSA links to each other with the pin 176 of dsp controller; Jtag circuit pin 9 with 11 and connect the back link to each other with the pin 193 of governor circuit, pin 1,2,3,7,13,14 links to each other with the pin 192,197,191,187,186,185 of dsp controller respectively; Every dsp controller also comprises clock circuit, is made of CY22381 programmable clock generator and EXCCET103U phaselocked loop crystal oscillator; CY22381 programmable clock generator pin 5 links to each other with the pin 204 of governor circuit, and CY22381 programmable clock generator pin 6 links to each other with the pin 78 of governor circuit; EXCCET103U phaselocked loop crystal oscillator pin 3 links to each other with the pin 202 of governor circuit.Wherein VDDC, CVDD, VSS are the basic power pin of TMS320C6713 chip in the power interface circuit design.Wherein the VDDC pin connects the 3.3V power supply, and the CVDD pin connects the 1.4V power supply, VSS pin ground connection.Pin 205,7,2,6,1,57,61,103,102,42,41,37,8 connects the 3.3V high level by pull-up resistor R1, R3, R4, R5, R6, R12, R13, R14, R15, R16, R17, R18, R19 respectively in addition, 181 pins directly connect the 1.4V high level, and 197,176,178 pins are respectively by pull down resistor R2, R8, R11 ground connection.Clock circuit is the key component of total system, and the CY22381 clock generator is mainly used to produce, distribute clock signal, with the work rhythm of control dsp controller.C3 and C4 are the load matched electric capacity of crystal oscillating circuit among the figure, an end ground connection, and the other end is connected on CY22381 chip 3,4 pins by 20MHz crystal oscillator Y1, its 7,8 pin connects the 3.3V high level, and 5 pins connect dsp chip 204 pins, 6 pins connect dsp chip 78 pins, 2 pin ground connection.The EXCCET103U chip is used for disposing phase-locked loop clock, and wherein 1 pin connects high level, 2 pin ground connection, and 3 pins are that output pin links to each other with the DSP202 pin, and through electrochemical capacitor CT1 and capacitor C 1 ground connection.Reset circuit is the MAX706RCSA chip, adopts button hand-reset mode to reset.Wherein 1 pin connects the 3.3V high level by pull-up resistor R7, and by reset key SW1 ground connection.2 pins directly are connected on the 3.3V high level, and 3,4 pins connect the 3.3V high level by C2 electric capacity, and 7 pins connect 176 pins of DSP.The JPAG circuit is the emulator standard interface, by this interface dsp controller is carried out the simulation hardware debugging, and wherein 5 pins connect the 3.3V high level, 4,8,10,12 pin ground connection.9 pins are connected with 11 pins on 193 pins that are attempted by dsp controller, and 1,2,3,7,13,14 pins connect 192,197,191,187,186,185 pins of dsp controller respectively.This figure is a TMS320C6713 chip minimum system schematic diagram, adopt the CY22381 chip can change the clock frequency of dsp controller easily by programming, adopt the JPAG interface directly to link to each other, make transfer rate more quick, and good stability is arranged with dsp controller.
In conjunction with Fig. 3, select for use serial asynchronous communication to communicate by letter with upper and lower computer as master controller.Wherein the TL16C752B chip is used for asynchronism transceiver UART.13, the external crystal oscillator Y1 of 14 pins, resistance R 1 and at the Y1 two ends, and respectively via capacitor C 1, C2 ground connection is controlled its baud rate size by programming.1-3,44-48 pin are connected on respectively on 128,121,122,132,131,130,129,127 pins of dsp chip as data line interface; The 26-28 pin is connected on 64,63,62 pins of dsp chip as the address wire interface; 29,30 pins are two interrupt request singals, are connected on 7,2 pins of dsp chip by switch respectively, are used for A, B passage application DSP and interrupt.42 pins connect the 3.3V high level; 17 pin ground connection; 19,15,36 pins connect 79 on the DSP, 83,176 pins respectively; Other 7 and 8,33 and 22,5 and 4,38 and 23,34 and 35 pins connect 16,15,8,7,10 pins of 2 MAX3160 chips respectively.11 pins on the MAX3160 chip are used to select the RS-485/RS-232 communication mode, quick and precisely transmit for making data, and Closing Switch JP3/4 makes it connect high level, selects the RS-485 communication mode for use.
The asynchronous communication of U9 control A channel, U10 control B tunneling traffic mode.U9 pin 11 links to each other with the 3.3V power supply by the 5th pull-up resistor R5, and by the 3rd switch JP3 ground connection, U10 pin 11 links to each other with the 3.3V power supply by the 7th pull-up resistor R7, and by the 4th switch JP4 ground connection; U9 pin 9 connects the 3.3V high level by the 4th pull-up resistor R4, and U10 pin 9 connects the 3.3V high level by the 6th pull-up resistor R6; Connect the 5th capacitor C 5 between the U9 pin 1 and 3, connect the 9th capacitor C 9 between the U10 pin 1 and 3; Connect the 6th capacitor C 6 between the U9 pin 18 and 19, connect the tenth capacitor C 10 between the U10 pin 18 and 19; Pin 4 ground connection, pin 2 connects the 3.3V high level, connects second resistance R 2 and the 3rd resistance R 3 between the U9 pin 5 and 6,13 and 14 respectively, connects the 8th resistance R 8 and the 9th resistance R 9 between the U10 pin 5 and 6,13 and 14 respectively; U9 pin 20 and 17 is respectively by the 3rd capacitor C 3 and the 4th capacitor C 4 ground connection, and U10 pin 20 and 17 is respectively by the 7th capacitor C 7 and the 8th capacitor C 8 ground connection.
In conjunction with Fig. 4 by three dsp controllers as main control circuit, will be wherein a slice dsp controller be master controller, with two carry out parallel communications from dsp controller and realize paralleling genetic algorithm.When main leaf is exported as data, for guaranteeing the synchronism of delivery time, the parallel communications McBSP module pin 16 of master controller is linked to each other with other two parallel communications McBSP module pins 19,24,27 from dsp controller respectively with 32 with 33,21 and 31,20, two are linked to each other with 38 with 37,19 and 36,24 with the parallel communications McBSP module pin 27 of master controller respectively from the parallel communications McBSP module pin 20,16,21 of dsp controller.
In conjunction with Fig. 5, at first tackle the dsp controller system and carry out initialization, make dsp controller enter normal duty.Comprising the CSL initialization, whether determining program has adopted when loading and has loaded the library file that chip is complementary; All kinds of external devices and dsp controller seamless link are supported in external memory device interface EMIF module initialization; The phase-locked loop pll module initialization is used to produce the required clock of dsp controller each several part and interrupts setting.Communicate with host computer then, course angle and roll angle data are imported in the dsp controller chip.According to boats and ships yawing and the linear coupled motions model of rolling, utilize and calculate ship course and rolling H by the LMI tool box among the Matlab
2/ H
{The feedback of status robust regulator is:
Wherein: ψ is a course angle,
Be course angle speed,
Be roll angle,
Be angular velocity in roll, P
y(α
r, β
r) be the yawing uprighting moment, L
f(α
f, β
f) be the rolling uprighting moment.
Then according to the minimum equation of the system drive energy of deriving:
Wherein: α (k) and β (k) are respectively k rudder angle or fin angle and wing rudder angle or fin angle constantly,
With
Be respectively
Rudder angle or fin angle and wing rudder angle or fin angle constantly, M
T, M
The T wingBe respectively the driving moment of rudder or fin, wing rudder or fin servo-drive system.
Allocation rule is to determine that with the restriction of the wing fin speed rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule are as follows with wing rudder speed or fin speed according to the spacing and rudder speed at the minimum equation of system drive energy and consideration rudder angle and wing rudder angle or fin angle and wing fin angle:
Wherein
Be the yawing uprighting moment value and the rolling uprighting moment value of rudder and wing rudder or fin angle and the generation of wing fin angle,
Be yawing or the rolling uprighting moment value that calculates by course and rolling robust regulator,
Be respectively k+1 rudder angle or fin angle and wing rudder angle or wing fin angle constantly, α
Max, β
MaxBe respectively hard over angle or fin angle and maximum wing rudder angle or wing fin angle,
Be respectively maximum rudder speed or fin speed and maximum wing rudder speed or wing fin speed,
Be sampling interval,
Be energy drives.
According to above rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule, utilize paralleling genetic algorithm, distribute the rudder and the wing rudder of required driving energy minimum, the value of fin and wing fin, communicate by letter the rotation of control rudder and wing rudder or fin and wing fin again with wing fin servo-drive system with wing rudder or fin with rudder.
In conjunction with Fig. 6,, need first initialization UART with the signal procedure of upper and lower computer.Comprise the selected of clock module, baud rate is selected, and transmitting and receiving data length is selected, and clock internal enables etc., and all are provided with all pass through the realization of UART control register.The interruption that timer (the setting timer cycle is 0.1s) is produced again is as receiving and the sign that sends data.When detecting host computer transmission data or slave computer reception data, timer picks up counting, and begins to transmit data.When data are sent completely after the CRC data check, whether judgment data sends correct.From new transmission, enter next circulation as incorrect as correct removing interrupt flag bit.
In conjunction with Fig. 7, adopt overall type paralleling genetic algorithm, in main dsp controller, produce initial population according to rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule, and utilize the buffering serial line interface McBSP of dsp controller, with its individual mean allocation to 2 from dsp controller; Recombinate respectively then and intersect and the variation computing, it is individual to produce a new generation, and satisfies " driving the energy minimum " principle and calculate fitness, and the result is passed to primary processor, keeps the best individuality of its fitness; Exchange the requirement that optimum individual accelerates to satisfy end condition every five generations from dsp controller.
In conjunction with Fig. 8, at first to reset to the McBSP module.Whole serial ports is all resetted.All input pins are in normal condition, and an output pin is in high-impedance state.Next each register to the McBSP module carries out initialization and comprises bit synchronization clock and the frame synchronization clock that reading and writing data is set.Whether judge to send then with the received frame synchronizing signal and enable, promptly whether FSXM/FSRM is 0, as not being 0 to be set to 0.Need afterwards to be configured, when McBSP module generation particular event, can send the look-at-me that receives or send to CPU to interrupting.Enable the reception and the transmission of pending datas such as buffered serial port data transmit-receive position at last.
Claims (10)
1. a boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller, as main control circuit, every dsp controller comprises power interface circuit, reset circuit, jtag circuit and two parallel communications McBSP modules by three dsp controllers; Power interface circuit links to each other with the power pin of main control circuit; The pin 7 of reset circuit MAX706RCSA links to each other with the pin 176 of dsp controller; Jtag circuit pin 9 with 11 and connect the back link to each other with the pin 193 of governor circuit, pin 1,2,3,7,13,14 links to each other with the pin 192,197,191,187,186,185 of dsp controller respectively, it is characterized in that: every dsp controller also comprises clock circuit, is made of CY22381 programmable clock generator and EXCCET103U phaselocked loop crystal oscillator; CY22381 programmable clock generator pin 5 links to each other with the pin 204 of governor circuit, and CY22381 programmable clock generator pin 6 links to each other with the pin 78 of governor circuit; EXCCET103U phaselocked loop crystal oscillator pin 3 links to each other with the pin 202 of governor circuit; Main control circuit is communicated by letter with upper and lower computer by asynchronism transceiver UART, and asynchronism transceiver UART comprises a slice TL16C752B chip, two MAX3160 chips (U9 and U10), two UART interfaces; The TL16C752B chip comprises outer interrupt circuit, the pin 30,29 of outer interrupt circuit is connected on the pin 2,7 of dsp controller by first switch (JP1) and second switch (JP2) respectively, and pin 19,15,36 links to each other with the pin 79,83,176 of dsp controller respectively; TL16C752B pin of chip 1 to 3,44 to 48 is connected on respectively on the pin 128,121,122,132,131,130,129,127 of dsp controller; TL16C752B chip pin 26 to 28 links to each other with the pin 64,63,62 of dsp controller respectively.
2. boats and ships rudder according to claim 1 and wing rudder or fin and wing fin combined control system digitial controller, it is characterized in that: load matched the 3rd electric capacity (C3) of the crystal oscillating circuit of the CY22381 programmable clock generator of described clock circuit, the 4th electric capacity (C4) end ground connection other end link to each other with the pin 3,4 of CY22381 programmable clock generator by 20MHz crystal oscillator (Y1), the pin 7,8 of CY22381 programmable clock generator connects the 3.3V high level, pin 2 ground connection; The pin 1 of the EXCCET103U phaselocked loop crystal oscillator of described clock circuit connects high level, pin 2 ground connection, and pin 3 is that output pin links to each other with the pin 202 of main control circuit simultaneously through electrochemical capacitor (CT1) and first electric capacity (C1) ground connection.
3. boats and ships rudder according to claim 1 and wing rudder or fin and wing fin combined control system digitial controller is characterized in that: described reset circuit MAX706RCSA adopts button hand-reset mode to reset; Reset circuit MAX706RCSA pin 1 connects the 3.3V high level by the 7th pull-up resistor (R7), and by reset key (SW1) ground connection; Reset circuit MAX706RCSA pin 2 connects the 3.3V high level, and pin 3,4 one ends connect 3.3V high level other end ground connection by second electric capacity (C2).
4. boats and ships rudder according to claim 1 and wing rudder or fin and wing fin combined control system digitial controller is characterized in that: the chip TL16C752B pin 7 and 8,33 and 22,5 and 4,38 and 23,34 and 35 of described asynchronism transceiver UART connects 16,15,8,7,10 pins of 2 MAX3160 chips respectively; Every MAX3160 pin of chip 5,6,13,14 links to each other with the pin 1,6,5,4 of UART interface; (U9) control A channel asynchronous communication, (U10) control B tunneling traffic mode; (U9) pin 11 links to each other with the 3.3V power supply by the 5th pull-up resistor (R5), and by the 3rd switch (JP3) ground connection, (U10) pin 11 links to each other with the 3.3V power supply by the 7th pull-up resistor (R7), and by the 4th switch (JP4) ground connection; (U9) pin 9 connects the 3.3V high level by the 4th pull-up resistor (R4), and (U10) pin 9 connects the 3.3V high level by the 6th pull-up resistor (R6); (U9) connect the 5th electric capacity (C5) between the pin 1 and 3, (U10) connect the 9th electric capacity (C9) between the pin 1 and 3; (U9) connect the 6th electric capacity (C6) between the pin 18 and 19, (U10) connect the tenth electric capacity (C10) between the pin 18 and 19; Pin 4 ground connection, pin 2 connects the 3.3V high level, (U9) connects second resistance (R2) and the 3rd resistance (R3) between the pin 5 and 6,13 and 14 respectively, (U10) connects the 8th resistance (R8) and the 9th resistance (R9) between the pin 5 and 6,13 and 14 respectively; (U9) pin 20 and 17 is respectively by the 3rd electric capacity (C3) and the 4th electric capacity (C4) ground connection, and (U10) pin 20 and 17 is respectively by the 7th electric capacity (C7) and the 8th electric capacity (C8) ground connection.
5. boats and ships rudder according to claim 1 and wing rudder or fin and wing fin combined control system digitial controller is characterized in that: described three dsp controllers are as main control circuit, and wherein a slice dsp controller is a master controller; The parallel communications McBSP module pin 16 of master controller is linked to each other with other two parallel communications McBSP module pins 19,24,27 from dsp controller respectively with 32 with 33,21 and 31,20, two are linked to each other with 38 with 37,19 and 36,24 with the parallel communications McBSP module pin 27 of master controller respectively from the parallel communications McBSP module pin 20,16,21 of dsp controller.
6. control method based on boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller, it is characterized in that: as main control circuit, every dsp controller comprises power interface circuit, reset circuit, jtag circuit and two parallel communications McBSP modules by three dsp controllers for described boats and ships rudder and wing rudder or fin and wing fin combined control system digitial controller; Its control method comprises following steps: at first detecting the boats and ships pose status data that obtains respectively by course pick-up unit and rolling detection device in the human-computer interaction interface, be sent in the digitial controller UART module through asynchronous serial communication interface, the boats and ships pose status data that utilization is imported in the dsp controller is regulated through robust regulator, obtains needed yawing uprighting moment and rolling uprighting moment; Consider the restriction of spacing and rudder speed with wing rudder speed or the fin speed and the wing fin speed at rudder angle and wing rudder angle or fin angle and wing fin angle then, obtain the allocation rule at rudder angle and wing rudder angle or fin angle and wing fin angle, utilize paralleling genetic algorithm, be met rudder and wing rudder or the fin and the wing fin distribution instruction of the minimum equation of system drive energy; Through asynchronous serial communication rudder and wing rudder or fin and wing fin servo-drive system are passed in instruction again, realize control ship course and rolling.
7. the control method of boats and ships rudder according to claim 8 and wing rudder or fin and wing fin combined control system digitial controller, it is characterized in that: described robust regulator is according to boats and ships yawing and the linear coupled motions model of rolling, utilizes the ship course and the rolling H that calculate by the LMI tool box among the Matlab
2/ H
∞The feedback of status robust regulator is:
Wherein: ψ is a course angle,
Be course angle speed,
Be roll angle,
Be angular velocity in roll, P
y(α
r, β
r) be the yawing uprighting moment, L
f(α
f, β
f) be the rolling uprighting moment.
8. the control method of boats and ships rudder according to claim 8 and wing rudder or fin and wing fin combined control system digitial controller, it is characterized in that: described allocation rule is to determine that with the restriction of the wing fin speed rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule are as follows with wing rudder speed or fin speed according to the spacing and rudder speed at the minimum equation of system drive energy and consideration rudder angle and wing rudder angle or fin angle and wing fin angle:
N (α (k+1) wherein, β (k+1)) is yawing uprighting moment value and the rolling uprighting moment value that rudder and wing rudder or fin angle and wing fin angle produce, yawing or the rolling uprighting moment value of K (k+1) for calculating by course and rolling robust regulator, α (k+1), β (k+1) are respectively k+1 rudder angle or fin angle and wing rudder angle or wing fin angle constantly, α
Max, β
MaxBe respectively hard over angle or fin angle and maximum wing rudder angle or wing fin angle,
Be respectively maximum rudder speed or fin speed and maximum wing rudder speed or wing fin speed, Δ t is a sampling interval, and Δ J (k+1) is an energy drives.
9. the control method of boats and ships rudder according to claim 8 and wing rudder or fin and wing fin combined control system digitial controller, it is characterized in that: described paralleling genetic algorithm, in main dsp controller, produce initial population according to rudder angle and wing rudder angle or fin angle and wing fin angle allocation rule, and utilize the buffering serial line interface McBSP of dsp controller, with its individual mean allocation to 2 from dsp controller; Recombinate respectively then and intersect and the variation computing, it is individual to produce a new generation, and satisfies " driving the energy minimum " principle and calculate fitness, and the result is passed to primary processor, keeps the best individuality of its fitness; Exchange the requirement that optimum individual accelerates to satisfy end condition every five generations from dsp controller.
10. the control method of boats and ships rudder according to claim 10 and wing rudder or fin and wing fin combined control system digitial controller is characterized in that: the minimum equation of described system drive energy is:
Wherein: α (k) and β (k) are respectively k rudder angle or fin angle and wing rudder angle or fin angle constantly, α
f(k+1) and β
f(k+1) be respectively k+1 rudder angle or fin angle and wing rudder angle or fin angle constantly, M
T, M
The T wingBe respectively the driving moment of rudder or fin, wing rudder or fin servo-drive system.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895814A (en) * | 2014-03-28 | 2014-07-02 | 哈尔滨工程大学 | Ship rudder rolling-reducing control method |
| CN103935480A (en) * | 2014-05-26 | 2014-07-23 | 哈尔滨工程大学 | Rudder stabilizing method based on analytic model prediction control design |
| CN107187575A (en) * | 2017-05-31 | 2017-09-22 | 威海海洋职业学院 | A kind of ship vector rudder control method, apparatus and system |
| CN111552186A (en) * | 2020-06-22 | 2020-08-18 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
| CN111776190A (en) * | 2020-06-22 | 2020-10-16 | 锦州航星船舶科技有限公司 | Digital rudder angle feedback indicating system and control method |
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2011
- 2011-07-05 CN CN2011101865715A patent/CN102298348A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895814A (en) * | 2014-03-28 | 2014-07-02 | 哈尔滨工程大学 | Ship rudder rolling-reducing control method |
| CN103895814B (en) * | 2014-03-28 | 2016-09-14 | 哈尔滨工程大学 | A kind of control method of rudder rollstabilization |
| CN103935480A (en) * | 2014-05-26 | 2014-07-23 | 哈尔滨工程大学 | Rudder stabilizing method based on analytic model prediction control design |
| CN107187575A (en) * | 2017-05-31 | 2017-09-22 | 威海海洋职业学院 | A kind of ship vector rudder control method, apparatus and system |
| CN111552186A (en) * | 2020-06-22 | 2020-08-18 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
| CN111776190A (en) * | 2020-06-22 | 2020-10-16 | 锦州航星船舶科技有限公司 | Digital rudder angle feedback indicating system and control method |
| CN111776190B (en) * | 2020-06-22 | 2022-04-12 | 锦州航星船舶科技有限公司 | Digital rudder angle feedback indicating system and control method |
| CN111552186B (en) * | 2020-06-22 | 2022-06-07 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
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