CN103048924A - Testing and simulating system for automatic vessel rudder - Google Patents
Testing and simulating system for automatic vessel rudder Download PDFInfo
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- CN103048924A CN103048924A CN2012105932910A CN201210593291A CN103048924A CN 103048924 A CN103048924 A CN 103048924A CN 2012105932910 A CN2012105932910 A CN 2012105932910A CN 201210593291 A CN201210593291 A CN 201210593291A CN 103048924 A CN103048924 A CN 103048924A
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Abstract
The invention discloses a testing and simulating system for an automatic vessel rudder. The testing and simulating system comprises a vessel model parameter setting system, a vessel movement mathematical model processing system, a comprehensive information displaying system, a vessel automatic rudder and a rudder angle generation and feedback device, wherein the vessel movement mathematical model processing system is respectively connected with the rudder angle generation and feedback device and the vessel automatic rudder in a port communication manner, and the rudder angle generation and feedback device and the vessel automatic rudder are connected in the port communication manner; and the communication between the vessel movement mathematical model processing system and the vessel model parameter setting system as well as between the vessel movement mathematical model processing system and the comprehensive information displaying system is completed by data transmission in a program. According to the testing and simulating system, a rudder angle feedback amount is produced by a rudder angle feedback device driven by a stepping motor, thus the normal operation of the vessel automatic rudder on land can be realized, a working state of the vessel automatic rudder on an actual vessel is vividly simulated, expenses on labor and materials required in a great number of actual vessel tests are saved for a scientific unit engaged in relevant work of the vessel automatic rudder, and the working efficiency is improved.
Description
Technical field
The present invention relates to a kind of hardware-in-loop simulation system of boats and ships, particularly a kind of Marine Autopilot test emulation system belongs to ship control and simulation technical field.
Background technology
Along with the development of economic globalization, shipping business has more and more important impact to the mankind's productive life.In recent decades, be accompanied by reform and opening-up, China has returned the row of shipping big country.As the main carriers of shipping business, the status of boats and ships is important all the more.It is the direction that the deck officer keeps or change ship motion that boats and ships are carried out course control, is the key that guarantees the efficient navigation of safety of ship.Marine Autopilot is the visual plant of control ship course, and design is produced the autopilot that superior performance satisfies various actual environments and seemed particularly important.In autopilot being developed, is produced and keep in repair, keep away unavoidably and will carry out to autopilot the test of property indices, yet carry out the marine experiment of real ship and need a large amount of manpower and materials, can't realize in a lot of situations, autopilot can not run well owing to lacking true rudder angle feedback signal and true course feedback signal on land simultaneously.So the problem of how cost-effectively Marine Autopilot to be tested occurs.
The hardware-in-loop simulation method is a kind of method that physical model and mathematical model gang are tested, it interconnects a part of equipment and the computing machine of real system, mode with mathematical simulation is carried out emulation to the part system that does not wherein exist or be not easy to test, and guarantees simultaneously the whole system real-time motion.This emulation technology combines the advantage of physical simulation and mathematical simulation, takes full advantage of the simplification of microcomputer modelling, has reduced expense, is convenient to model part to system and carries out flexibly and fast emulation, change.Oneself is widely applied this emulation technology in fields such as machinery, electronics, space flight and aviation and weapon developments.But the analogue system that Marine Autopilot is tested be yet there are no open report, and the otherwise analogue system of boats and ships can not be directly used in the emulation of Marine Autopilot test.
Summary of the invention
For solving the problem of how cost-effectively Marine Autopilot to be tested, the present invention will design a kind of Marine Autopilot test emulation system that Marine Autopilot is run well on land and can test its property indices, this analogue system not only can be tested autopilot, also can be used as the steersmanship of teaching equipment training of students.
To achieve these goals, technical scheme of the present invention is as follows: a kind of Marine Autopilot test emulation system, comprise that ship model parameter setting system, ship motion mathematical model disposal system, Integrated Information Display System, Marine Autopilot, rudder angle produce and feedback assembly, described ship motion mathematical model disposal system is connected with Marine Autopilot with feedback assembly with the rudder angle generation respectively by the mode of serial communication, and described rudder angle generation is connected with feedback assembly is connected serial communication with Marine Autopilot mode; Described ship motion mathematical model disposal system is finished by the transmission of program internal data with communicating by letter of ship model parameter setting system and Integrated Information Display System;
The software of described ship motion mathematical model disposal system adopts Visual C++ programming, and realizes with the form of dynamic link library, and this system serial ports that passes through that the course that calculates is real-time sends to Marine Autopilot, makes it obtain the course feedback quantity; Drive rudder angle ultramagnifier, the rudder angle feedback signal of the same electrical specification when making Marine Autopilot obtain with real navigation by the hydraulic sterring engine in the stepper motor simulation real navigation of PLC control again; Marine Autopilot has just obtained the feedback quantity of two necessity like this, guarantees Marine Autopilot normal operation on land;
Described Integrated Information Display System is responsible for gathering the every terms of information of Marine Autopilot and ship motion mathematical model disposal system and showing with the exploitation of Visual C Plus Plus;
Described rudder angle produces and feedback assembly, consisted of by a stepper motor, a stepper motor driver, a PLC, a rudder angle indication selsyn and two rudder angle feedback selsyns, described rudder angle indication selsyn and rudder angle feedback selsyn are referred to as the rudder angle ultramagnifier, described PLC control step motor driver, the stepper motor driver Driving Stepping Motor rotates and drives the rudder angle ultramagnifier, and the software that is installed among the PLC adopts Siemens PLC C trapezoid figure language to write;
Described ship model parameter setting system adopts the exploitation of Visual C Plus Plus, utilizes combo box control and edit box control to carry out the parameter setting.
Advantage of the present invention and beneficial effect are:
1, the present invention utilizes stepper motor to drive the rudder angle ultramagnifier and produces the rudder angle feedback quantity, produce the course feedback quantity by introducing ship motion mathematical model, thus, Marine Autopilot obtains making two necessary feedback quantities of its normal operation, can realize that Marine Autopilot runs well on land, simulate realistically the duty of Marine Autopilot on real ship, the information that can produce in the running Marine Autopilot easily by designing special software is conducive to related scientific research unit, factory is in development, when production and maintenance Marine Autopilot the Marine Autopilot properties is tested and estimated.Created well easily condition for designing better and improve Marine Autopilot.Simultaneously, the present invention can simulate the marine experiment of part, can be used as the training student's of Navigation class universities and colleges instruments used for education.Development of the present invention is that the R﹠D institution, factory and the Navigation class universities and colleges that engage in the Marine Autopilot related work have saved the required manpower and materials spending of a large amount of ship trials, has improved work efficiency.
2, the present invention can realize following functions:
(1) user can select as required 4 kinds of dissimilar ship models and initial ship's speed, engine speed, initial heading, sea situation parameter such as stormy waves intensity of flow, direction etc. are set.
(2) as teaching equipment, the user can utilize the basic autopilot of training of students of the present invention to handle technical ability.
(3) utilize the present invention can show in real time the variation of ship track, course and rudder angle, and draw their monitoring curve, can simulate real ship and carry out boats and ships revolution experiment and Z-shaped experiment.
(4) as test macro, the present invention can pass through the course, and the rudder angle monitoring curve analyzes autopilot course control effect, and the function of Ship ' course control optimal performance index is provided, and conveniently the autopilot control performance is estimated.
Description of drawings
The present invention is 1 of drawings attached only, wherein:
Fig. 1 is a kind of composition structured flowchart of Marine Autopilot test emulation system.
Among the figure: 1, ship model parameter setting system, 2, the ship motion mathematical model disposal system, 3, Integrated Information Display System, 4, Marine Autopilot, 5, rudder angle produces and feedback assembly.
Embodiment
Below in conjunction with accompanying drawing the present invention is done in further detail description: be to make up ship motion mathematical model, need to quote actual boats and ships data, for the present invention has better versatility, here selected four dissimilar boats and ships to carry out modeling, these four boats and ships are respectively: the two oar ro-ro passenger ships of 5250G container ship, BiHuaShan bulk ship, Opalia oil carrier and TianE.
As shown in Figure 1, a kind of Marine Autopilot test emulation system is mainly produced by ship model parameter setting system 1, ship motion mathematical model disposal system 2, Integrated Information Display System 3, Marine Autopilot 4 and rudder angle and feedback assembly 5 five parts form.
One, the design of ship model parameter setting system 1 and realization:
The software of ship model parameter setting system 1 is comprised of four parts: first is for selecting ship model, and second portion is for arranging engine speed, and third part is for arranging initial heading and initial ship's speed, and the 4th part is for arranging sea situation.First selects ship model to adopt combo box control, clicks drop-down menu and selects ship model, and its excess-three partly adopts the edit box control, manually inputs the concrete numerical value of each parameter.The below provides the specific procedure of utilizing combo box to call ship model and realizes:
Two, the design of ship motion mathematical model disposal system 2 and realization
Ship motion mathematical model disposal system 2 is cores of whole system, is responsible for the actual boats and ships of simulation, resolves the course.
The present invention utilizes the divergence type idea about modeling, sets up complexity according to four dissimilar boats and ships data suitable, the ship motion mathematical model disposal system that precision meets the demands.This ship motion mathematical model disposal system is that the form with the ShipDll dynamic base provides, and generates ShipDll.dll, shipdll.h and three files of ShipDll.lib.When writing dynamic link library, function is compiled by institute and fall into 5 types, forms 5 modules and be respectively and select loading ship model module, starting condition module, carriage clock and rudder angle command module, ship model to be set to resolve module and output module.The concrete function that each module comprises is as follows:
Select to load ship model
Using needs to be correlated with setting before the dynamic link library, at first with ShipDll.dll, shipdll.h and ShipDll.lib file copy in establishment project file catalogue.Open the VC++ translation and compiling environment, select Project → Setting, in the General property pages, select " Use MFC in a Shared dll ", in the Link property pages, Object/Library fills in " ShipDll.lib ", the file that will contain again four ship models copies under the fixed disk catalogue, for example copies under the C packing catalogue.The concrete object EditModel of definition CShipModel class, then calling by EditModel of all ship model related functions drawn later on.
Add WM TIME message in program, increasing interval time is the timer of 500ms, adds in the OnTimer function and resolves ship model function EditModel.SimulateRun (); Be that every 500ms resolves ship model one time.After resolving, ship model needs course, the flight path of its output are read out, wherein, because the output of its course is not according to received 0 ° ~ 360 ° of autopilot, therefore need to export the course to it and put in order, the below provides the relative program that reads course and flight path:
Three, the design of Integrated Information Display System 3 and realization
The Integrated Information Display System 3 main variations of being responsible for real-time demonstration rudder angle, course, flight path, and the calculating of course optimum control performance index.
The industrial control that the present invention utilizes iocomp company to produce shows the variation of rudder angle, course and flight path, and this control has the figure fineness, and is powerful, easy to operate characteristics.Because therefore the variation of demonstration rudder angle, course and flight path that will be real-time should finish the operation to the control assignment in the OnTimer of timer function, the below provides the part relative program:
The present invention can realize the calculating to the course optimum control performance index of Marine Autopilot 4.When the Marine Autopilot test macro normally moves, enter test interface, observe the course changing trend diagram, by the time click the result of calculation button during course-stability, just can in edit box, show the course optimum control performance index of Marine Autopilot 4.Its expression is
T wherein
0Be one period computing time greater than regulating cycle, Ψ
rBe set course; Ψ is actual heading; δ is actual rudder angle; λ is the weighting coefficient of rudder angle, determining to control quality and energy-conservation between equilibrium relation, the size of λ is mainly decided by weather environment.Can employing table 1 about choosing of λ.
Table 1: λ value table
| Bad weather | General weather | Fair weather |
| 4.00 | 0.44 | 0.16 |
| Economic control | General control | Accurately control |
Realize calculating course optimum control performance index and at first will obtain set course, actual heading and actual rudder angle.
Because the course and the rudder angle that obtain all disperse, so will calculate the knowledge that above-mentioned constant volume fraction needs numerical integration, adopt here that a kind of interpolation type quadrature method--newton-Ke Tesi formula carries out computing.
Four, design and the realization of rudder angle generation and feedback assembly 5
Rudder angle produces and feedback assembly 5 is comprised of a stepper motor, a stepper motor driver, a PLC, a rudder angle indication selsyn and two rudder angle feedback selsyns, by the rotation of PLC control step motor driver control step motor.
Stepper motor generally has two kinds of connections.Tandem-type connection is generally used when the stepper motor rotating ratio is lower, and the driver output current that need this moment is 0.7 times of stepper motor phase current, thereby the stepper motor heating is little; Parallel connection method generally is used in the higher occasion of stepper motor rotating speed and uses, and needed driver output current is 1.4 times of stepper motor phase current, thereby heating is larger.Because the steering wheel rotating speed is slowly, so select tandem-type connection here.
The present invention utilizes stepper motor to replace bulky complex hydraulic sterring engine in the real ship, and stepper motor is controlled by PLC, can draw thus the designing requirement of PLC program, and then PLC is carried out program design.
When Marine Autopilot 4 provided the left rudder signal, stepper motor was turned left specifically, and stepper motor is turned right when Marine Autopilot 4 provides the right standard rudder signal, step motor stop when Marine Autopilot 4 does not provide command signal.In real navigation, steering wheel rotates single pump work of time-division and double pump work, during steering wheel list pump work, the velocity of rotation of steering wheel is 2.3 °/s ~ 2.5 °/s, steering wheel from the time that left (right side) 35 ° goes to 35 ° on the right side (left side) be 28 ~ 30s, in steering wheel double pump when work,, the velocity of rotation of steering wheel is 4.7 °/s ~ 5 °/s, steering wheel from the time that left (right side) 35 ° goes to 35 ° on the right side (left side) be 14 ~ 15s.The present invention makes the slewing rate of the slewing rate of stepper motor and actual steering wheel approaching as much as possible, therefore, stepper motor driver is segmented number be made as 18, then segment step angle and be 1.8 °/18=0.1 °, to the recurrence interval be set as 40ms, then frequency is 25Hz, and namely per second has 25 pulses, 25*0.1 °=2.5 °.To the recurrence interval be set as 20ms, then frequency is 50Hz, and namely per second has 50 pulses, 50*0.1 °=5 °.So, when design PLC control program, when steering wheel is that single pump work PLC in season output recurrence interval is 40ms, when steering wheel is that double pump work PLC in season output pulse is 20ms.
In addition, when rudder angle indication vernier touched a left side (right side) travel switch, stepper motor should stop immediately.When needs are manually adjusted rudder angle indication vernier, can trigger relevant contacts and make stepper motor enter off-line state.
Claims (1)
1. Marine Autopilot test emulation system, it is characterized in that: comprise that ship model parameter setting system (1), ship motion mathematical model disposal system (2), Integrated Information Display System (3), Marine Autopilot (4), rudder angle produce and feedback assembly (5), the mode of described ship motion mathematical model disposal system (2) by serial communication produces with rudder angle respectively is connected 4 with feedback assembly (5) with Marine Autopilot) be connected, described rudder angle generation is connected 4 with feedback assembly (5) with Marine Autopilot) mode by serial communication is connected; Described ship motion mathematical model disposal system (2) is finished by the transmission of program internal data with ship model parameter setting system (1) and communicating by letter of Integrated Information Display System (3);
The software of described ship motion mathematical model disposal system (2) adopts Visual C++ programming, and the form with dynamic link library realizes, this system serial ports that passes through that the course that calculates is real-time sends to Marine Autopilot (4), makes it obtain the course feedback quantity; Drive rudder angle ultramagnifier, the rudder angle feedback signal of the same electrical specification when making Marine Autopilot (4) obtain with real navigation by the hydraulic sterring engine in the stepper motor simulation real navigation of PLC control again; Marine Autopilot (4) has just obtained the feedback quantity of two necessity like this, guarantees Marine Autopilot (4) normal operation on land;
Described Integrated Information Display System (3) is responsible for gathering the every terms of information of Marine Autopilot (4) and ship motion mathematical model disposal system (2) and showing with the exploitation of Visual C Plus Plus;
Described rudder angle produces and feedback assembly (5), consisted of by a stepper motor, a stepper motor driver, a PLC, a rudder angle indication selsyn and two rudder angle feedback selsyns, described rudder angle indication selsyn and rudder angle feedback selsyn are referred to as the rudder angle ultramagnifier, described PLC control step motor driver, the stepper motor driver Driving Stepping Motor rotates and drives the rudder angle ultramagnifier, and the software that is installed among the PLC adopts Siemens PLC C trapezoid figure language to write;
Described ship model parameter setting system (1) adopts the exploitation of Visual C Plus Plus, utilizes combo box control and edit box control to carry out the parameter setting.
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| CN106769125A (en) * | 2016-11-24 | 2017-05-31 | 北京电子工程总体研究所 | A kind of test method for obtaining the dynamic characteristic from loading moment to feedback potentiometer |
| CN112678127A (en) * | 2021-01-08 | 2021-04-20 | 中国船舶重工集团公司第七0七研究所 | System and method for testing marine dynamic performance of automatic steering instrument |
| CN112947046A (en) * | 2021-01-27 | 2021-06-11 | 上海海迅机电工程有限公司 | Hovercraft self-navigation model remote control system and control method |
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| CN112947046A (en) * | 2021-01-27 | 2021-06-11 | 上海海迅机电工程有限公司 | Hovercraft self-navigation model remote control system and control method |
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Application publication date: 20130417 |