CN103309236B - The two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships - Google Patents
The two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships Download PDFInfo
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- CN103309236B CN103309236B CN201310200010.5A CN201310200010A CN103309236B CN 103309236 B CN103309236 B CN 103309236B CN 201310200010 A CN201310200010 A CN 201310200010A CN 103309236 B CN103309236 B CN 103309236B
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Abstract
The invention discloses the two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships, comprise main frame simulator stand, host monitor and warning system, right main engine control control desk, engine speed complex control system and left main frame simulation control subsystem, described main frame simulator stand and host monitor and warning system carry out communication with right main engine control control desk by PPI agreement respectively; Described engine speed complex control system comprises electron speed regulator and Siemens S7-1200PLC, S7-1200PLC pass through Modbus agreement and right main engine control console communication; Described left main frame simulation control subsystem realizes the mutual exchange of data by the S7-1200PLC of OPC agreement and engine speed complex control system.User of the present invention can arrange different Marine Diesel Engine parameter as required in main frame and gear case signal imitation case, touch-screen, thus can simulate diesel main engine ruuning situation under different operating mode.
Description
Technical field
The present invention relates to the two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of hardware-in-loop simulation system, particularly a kind of boats and ships, belong to ship control and emulation field.
Background technology
Diesel main engine is as the important propulsion plant of modern ships, and its effect is that main frame sends power, by gearing and axle system, drives thruster to promote boats and ships and advances.Two diesel main engine propulsion plant, mainly refers to two diesel engines, can unit operation, also by clutch coupling and the gearings such as parallel operation gear boxes carry out and car, the common main propelling machinery driving a screw propeller.Advance compared to single host, adopt the boats and ships of two main frame propulsion plant can reach the higher speed of a ship or plane more rapidly, maneuverability during navigation is better, and stability is also higher.
Along with the raising of automaticity and the development of electronic technology, the task of crewman's study and training is increasingly heavy, and the financial burden of real ship training also increases the weight of thereupon.Namely student allows to obtain the chance of going on board and training, and for the such complex object of diesel main engine, the condition running demand fulfillment is numerous, and control difficulty large, the training of some special operation conditions and burst accident also cannot meet, and so just brings hidden danger to safe operation.Traditional diesel engine study platform is large by the impact of surrounding environment, is difficult to the full working scope scope covering diesel engine system, not easily carries out some reperformance tests.And once crewman's maloperation, gently then naval vessel runs out of steam, even there is the accident of fatal crass in heavy then damage equipment.Current, although watercraft engine room automatic degree is very high, but marine main engine Solid rocket engine substantially still adopts traditional PID(proportional-integral-differential) control or follow-on PID control, even the advanced control theory of some maturations is also less be applied in Ship Propeling control field.Therefore if the training similar to real shipowner's machine propulsion control system can be completed at laboratory environment and operate, simulate the training of the different burst accident such as operating mode and the system failure of real shipowner's machine, realize host monitor and warning inquiry system and two diesel main engine combines Solid rocket engine, and the theoretical plates setting up a marine main engine propulsion control system mathematical model and control algolithm research is by significant.
Hardware-in-loop simulation method is by physical model and the united a kind of method of carrying out testing of mathematical model, a part of equipment of real system and computing machine are interconnected by it, by the mode of mathematical simulation, the part system wherein do not existed or be not easy to test is emulated, ensure whole system real-time motion simultaneously.This emulation technology not only compensate for the many defects in pure mathematics emulation, improves the degree of confidence of whole model, and greatly can alleviate the workload of programming.Another advantage of this emulation technology is the data real-time, interactive it achieved between realistic model and real system, and validation methods for simulation results process is very directly perceived, thus greatly improves the development quality of control system, and reduction developing risk and raising are designed to power.But not yet there is shaping product at present in Marine Diesel Engine Solid rocket engine hardware-in-loop simulation system.
Summary of the invention
For solving the problems referred to above that prior art exists, the present invention will design and a kind ofly can realize the similar operating function of diesel main engine propulsion system two to real ship, can simulation framework in the training of different operating mode and burst accident, hardware-in-loop simulation system and the method for work thereof of the two diesel main engine Solid rocket engine of boats and ships of a marine main engine integrated control theory research platform can be set up.
To achieve these goals, technical scheme of the present invention is as follows: the two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships, comprise main frame simulator stand, host monitor and warning system, right main engine control control desk, engine speed complex control system and left main frame simulation control subsystem, described main frame simulator stand and host monitor and warning system carry out communication with right main engine control control desk by the PPI agreement that Siemens S7-200PLC is special respectively; Described engine speed complex control system comprises electron speed regulator and Siemens S7-1200PLC, S7-1200PLC pass through Modbus agreement and right main engine control console communication; Described left main frame simulation control subsystem realizes the mutual exchange of data by the S7-1200PLC of OPC agreement and engine speed complex control system;
Described main frame simulator stand comprises main frame and gear case signal imitation case, frequency converter, threephase asynchronous machine, reduction gear box, screw propeller; Main frame and gear case signal imitation case are used for the important parameter of simulation framework and gear case, frequency converter controls threephase asynchronous machine rotating speed according to main frame to oil mass signal, the driving shaft of threephase asynchronous machine connects reduction gear box, and is rotated by reduction gear box carrying screws;
Described host monitor and warning system comprise alarm monitoring and more control panel, indicating instrument and touch-screen; Alarm monitoring and more control panel are used for Host Status supervision, hostdown reduction of speed and the alarm of scram and the more control operation of cancellation fault reduction of speed and scram action; Indicating instrument is for monitoring host parameter, so that user understands main frame ruuning situation; Touch-screen is used for the ship's speed of monitoring, engine speed value to show with curve form, and provides current alerts to inquire about and history warning query function;
Described right main engine control control desk comprises the other operator's console of bridge, central control desk and machine; Bridge comprises telegraph lever, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument; Central control desk is identical with bridge structure; The other operator's console of machine comprises adjusts oily handwheel, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument; Above-mentioned telegraph lever, oily handwheel and indicating instrument is adjusted to be connected with the analog input and output end of S7-200PLC respectively; Above-mentioned main engine telegraph, auxiliary carriage clock and manual-operated emergent lugs are connected with the number connect test end of S7-200PLC respectively; Touch-screen is connected with the RS-485 communication port of S7-200PLC; Emergency clock in the other operator's console of bridge, central control desk and machine is all autonomous devices, and by its inner Single-chip Controlling, the emergency clock in bridge is connected respectively with between the emergency clock in the other operator's console of central control desk and machine by 5 core cables; Described touch-screen and indicating instrument share touch-screen in host monitor and warning system and indicating instrument;
Described engine speed complex control system comprises electron speed regulator and Siemens S7-1200PLC, described electron speed regulator model is Woodward2301D, be integrated with PID controller, by the parameter of the configurable electron speed regulator of Watch Window software of Woodward; Be mounted with counter controls algorithm, FUZZY ALGORITHMS FOR CONTROL and Fuzzy PID in described Siemens S7-1200PLC, according to given engine speed and host work characteristic, realize the Comprehensive Control to engine speed and ship's speed;
Described left main frame simulation control subsystem is a PC being provided with simulation software, and simulation software adopts VC++ language to mix with Matlab/Simulink language and works out; Bridge interface, central control desk interface, the other operator's console interface of machine, diesel engine cartoon interface and rotating speed ship's speed curve map interface is comprised with the user interface of VC++ language development; Diesel engine subsystem module, quant subsystem module, control system module and gear case subsystem module is comprised with the diesel propulsion system model that Matlab/Simulink language is set up; User interface realizes the exchanges data with diesel propulsion system model by adopting the method for Matlab engine;
Described diesel engine animation comprises four-cycle diesel three-dimensional entity model, the three-dimensional entity model of spacing oar propulsive unit and propulsion system dummy model, and utilizes VC++ language to realize the three-dimension animation of the diesel propulsion plant course of work.
Compared with prior art, the present invention has following beneficial effect:
1, because user of the present invention can arrange different Marine Diesel Engine parameter as required in main frame and gear case signal imitation case, touch-screen, as fuel oil enter machine pressure, lubricating oil enters machine pressure, fuel oil temperature, oil temperature, cooling water temperature, bearing temperature and gear case parameter etc., thus can simulate diesel main engine ruuning situation under different operating mode.
2, because host monitor of the present invention and warning system can carry out Real-Time Monitoring to the parameter such as main frame and gear case, the fault reduction of speed of design and scram function cause damage to main frame operation when parameter can be avoided to reach warning limits value, current alerts inquiry and history are reported to the police and are inquired about, and user can be facilitated to find out and get rid of warning reason.Monitoring and alarm system simultaneously real-time rendering goes out the monitoring curve of engine speed and ship's speed, and user can adjust controller parameter according to monitoring curve, and the control performance of marine main engine rotating speed complex control system is produced a desired effect.
3, because marine main engine rotating speed complex control system of the present invention is mounted with advanced control algorithm at Siemens S7-1200PLC, according to given engine speed, regulate host work characteristic, main control system speed error, within 3%, has good stable state and dynamic perfromance.
4, because the right main engine control control desk of the present invention comprises the other operator's console of bridge, central control desk and machine.User can handle telegraph lever at bridge and central control desk or handle at the other operator's console of machine and adjust oily handwheel to control marine main engine rotating speed in real time, realizes different location and handles host function; User is by alarm monitoring and more control panel and manual-operated emergent lugs and more to control hostdown or the operation such as emergency stop, realizes the real ship emergency maneuver function of simulation.
5, because left main frame simulation control subsystem of the present invention comprises the diesel propulsion system model set up with Matlab/Simulink and the user interface worked out with VC++ language, user calls Matlab/Simulink hosting model by user interface, can handle the real-time control that telegraph lever realizes left engine speed, ship's speed on interface.What simultaneously user interface called that the function of Matlab/Simulink model makes the foundation of complex model become is simple, and directly can use the model that early stage, Matlab/Simulink set up, do not need model VC++ Programming with Pascal Language, and advanced control algorithm is by VC++ Programming with Pascal Language, like this control object that boats and ships are complicated so is just become relatively easy.
6, because actual Marine Diesel Engine propulsion control system realizes in laboratory by the present invention, for the research carrying out Marine Diesel Engine Solid rocket engine algorithm at laboratory environment provides an effective platform.Significant in the application in ship control field to acceleration advanced control theory, also can for master, doctoral candidate and teacher as research equipment and the function introducing the two diesel main engine propulsion control system of boats and ships as teaching equipment to student.
Accompanying drawing explanation
The present invention is drawings attached 1 only, wherein:
Fig. 1 is the composition structural representation of the two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships of the present invention.
In figure: 1, main frame simulator stand, 2, host monitor and warning system, 3, right main engine control control desk, 4, engine speed complex control system, 5, left main frame simulation control subsystem.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail: as shown in Figure 1, the two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships, comprise main frame simulator stand 1, host monitor and warning system 2, right main engine control control desk 3, engine speed complex control system 4 and left main frame simulation control subsystem 5, described main frame simulator stand 1 and host monitor and warning system 2 carry out communication with right main engine control control desk 3 by the PPI agreement that Siemens S7-200PLC is special respectively; Described engine speed complex control system 4 comprises electron speed regulator and Siemens S7-1200PLC, S7-1200PLC pass through Modbus agreement and the communication of right main engine control control desk 3; Described left main frame simulation control subsystem 5 realizes the mutual exchange of data by the S7-1200PLC of OPC agreement and engine speed complex control system 4.
Method of work of the present invention, comprises the following steps:
The right main frame of the present invention adopts the true Control Component of real ship and S7-200PLC, utilizes transducer drive motor to simulate the main frame on ship, drive gear casing, carrying screws, conveniently can simulate spacing oar low-speed machine, medium speed engine and high speed machine:
1, when straighforward operation, user automatically performs advance by the telegraph lever of bridge or central control desk, retreats and cease and desist order, and can set the main frame revolution value of each gear of telegraph lever by program.Telegraph lever adopts independently potentiometer form, produces different command signals by mobile telegraph lever, and this command signal, by program closed-loop control, is sent into engine speed complex control system 4, and performed following program:
(i), when the working mode selection of engine speed complex control system 4 is electron speed regulator speed governing, then command signal converts 4-20mA current signal to and delivers to electron speed regulator, 0-20mA current signal is exported to frequency converter by electron speed regulator, thus drive main frame and gear case work, and then carrying screws simulation framework duty;
(ii), when the working mode selection of engine speed complex control system 4 is program speed governing, then can select counter controls or fuzzy control or fuzzy-adaptation PID control on the touchscreen, the 0-20mA current signal that the control signal of S7-1200PLC is processed into standard delivers to frequency converter again, thus drive main frame and gear case work, and then carrying screws simulation framework duty.
2, when the other operation operation of machine, user adjusts oily handwheel to carry out main control system rotating speed by the other operator's console of conditioner, oily handwheel is adjusted to adopt independently potentiometer form, oily handwheel is adjusted to produce different command signals by rotating, this signal transacting becomes current signal to export frequency converter to, thus drives main frame to run, simultaneously by the positive car of the other operator's console of machine, empty wagons, the corresponding electromagnetic clutch work of reversing switch drive gear casing, and then carrying screws work, belong to opened loop control.
The left main frame of the present invention take computer simulation technique as core, adopt the modeling method of quasi steady state model, by have employed the method for experimental formula or particular curve to the thermal procession of some complexity in Diesel Engine Model, Matlab/Simulink software is adopted to establish the realistic model of four-stroke-cycle middling speed supercharged diesel engine.VC++ is adopted to write user interface, Matlab/Simulink real-time model exchanges as background program and user interface data, and be connected with engine speed complex control system 4 by OPC agreement, user is conveniently operated visually, and concrete steps are as follows:
1, in PC, run the user interface application program of left main frame.The master menu of user interface of the present invention comprises initialization and operation, view switches two options.First user selects initialization and actions menu option to carry out initialization operation to OPC agreement and diesel propulsion system model, then opens and start MATLAB/Simulink diesel propulsion system model, realizes the exchanges data of operation interface and model.Comprising the option such as bridge interface, central control desk interface, machine other operator's console interface, diesel engine cartoon interface, rotating speed ship's speed curve map interface under view switching menu, by selecting respective selection, the switching of each view interface can be realized.
2, carry out speed setting at bridge interface or central control desk interface by telegraph lever, the information such as engine speed, fuel oil scale, ship's speed, operation place, auxiliary carriage clock can be read on bridge interface simultaneously.At the other operator's console interface of machine, " operational position transformation switch " is switched to " by machine ", by clicking the plus-minus button of oil supply handwheel, open loop can be carried out and set to oil mass.At diesel engine cartoon interface, according to the engine speed received, diesel engine 3D animation effect figure can be watched.Engine speed, stern tube shaft rotating speed and ship's speed curve map can be checked at rotating speed, ship's speed curve map interface.
Below in conjunction with Fig. 1, the embodiment of each subsystem of the present invention is described further:
One, the design and implimentation of main frame simulator stand 1
Main frame simulator stand 1 comprises main frame and gear case signal imitation case, frequency converter, threephase asynchronous machine, reduction gear box, screw propeller.
Main frame and gear case signal imitation case comprise 26 railway digital signals and 16 tunnel simulating signals, and be divided into and start chain, warning, reduction of speed and parking four class signal, every road simulating signal shows its numerical value by a display instrument (model is CH6/E-FRTB1V1).Digital signal is controlled by digital switch, is connected to the digital quantity I/O point of S7-200PLC.Simulating signal is regulated by potentiometer, the input positive pole of display instrument is outputted to through the current signal of potentiometer, the input negative pole of display instrument is connected to the analog quantity spread module of S7-200PLC, simulating signal is carried out standardization processing by S7-200PLC, and the signal after process passes to host monitor and warning system 2 and right main engine control control desk 3 through PPI agreement.
Frequency converter carries out parametrization setting by basic operation panel or Siemens STARTER debugging software, and parametrization setting comprises the selection of order source, control mode, motor type and the parameter of electric machine etc.; The speed reduction unit that reduction gear box is respectively 2 by two groups of ratio of gear forms, namely in the present invention, engine speed is 4 times of stern tube shaft rotating speed, be also designed with in reduction gear box for realize clutch, commutation function electromagnetic clutch and realize the rotating speed sensor for Hall gear of main frame, stern tube shaft rotary test speed function; The screw propeller of main frame simulator stand 1 is driven by reduction gear box, thus the Solid rocket engine of simulation marine main engine.
Two, the design and implimentation of host monitor and warning system 2
Host monitor and warning system 2 pairs of protected host safe operations play a crucial role, and each parameter of main frame, gear case is delivered to the S7-200PLC of the other operator's console of machine and the touch-screen Centralized Monitoring in each operation place through PPI agreement.Touchscreen configuration has main monitoring interface, telegraph lever, setting parameter, warning inquiry, history to report to the police, for spoke part and trend map interface.Main monitoring interface is provided with engine speed, stern tube shaft rotating speed and ship's speed figure dial plate and auxiliary carriage clock, the instruction of operating position state; Telegraph lever can show telegraph lever position, current operation position and rotary speed setting value, actual speed; Setting parameter is used for arranging and preserving local telegraph lever gear setting value, enter the necessary username and password of this menu, and is provided with the selection of counter controls, fuzzy control and Fuzzy PID; Inquiry menu of reporting to the police can inquire about current concrete alarm failure project; History annunciator menu can the concrete alarm failure project of query history; Standby spoke part is provided with each logical condition of main frame for car; Real-time engine speed, the monitoring curve of ship's speed can be shown in trend map unit.
Host monitor and warning system 2 be provided with automatic reduction of speed (when main frame some report to the police out-of-limit formation reduction of speed class integrated alarm time, as without more controlling instruction, main frame is by automatic reduction of speed, and sound and light alarm.When the phenomenon of the failure causing automatic reduction of speed disappears, automatic reduction of speed will automatically reset), automatic stopping (when main frame some report to the police out-of-limit formation parking class integrated alarm time, as nothing more controls instruction, main frame is by automatic stopping, and sound and light alarm.When automatic stopping failure vanishes and the telegraph lever at current operation position pull to parking stall, and artificial confirm after, automatic stopping resets).At alarm monitoring and more control panel is provided with and more control function key, press the prompting of rear acousto-optic, be used for cancelling some Automated condtrol, as automatic reduction of speed, automatic stopping etc., program commutation is become time-commutate mode.
Warning is provided with acoustic alarm, light is reported to the police and quieter.Light is reported to the police: when warning occurs, the alarm lamp flicker that can more control, and the alarm lamp that can not more control is zero diopter display, and when after alarm release, alarm lamp extinguishes.Acoustic alarm: be provided with hummer on bridge and central control desk control panel, the other operator's console of machine is provided with combination acoustic-optic alarm, and when warning occurs, hummer rings, and the action of combination acoustic-optic alarm, when after alarm release, chimes of doom stops.Quieter: report to the police after occurring, press noise reduction button or the button of each operating position, can eliminate this place's acoustic alarm, pilot lamp becomes zero diopter from original flash state.
Three, the design and implimentation of right main engine control control desk 3
Right main engine control control desk 3 is provided with the other operator's console of bridge, central control desk and machine; Bridge is substantially identical with central control desk primary clustering, comprises telegraph lever, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument etc.The other operator's console primary clustering of machine has adjusts oily handwheel, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument etc.Change to oil mass main control system rotating speed by handling telegraph lever, thus indirectly control ship's speed.The output signal of telegraph lever is actually the output current signal being positioned at its inner potentiometer, slide block on the moving belt electrokinetic potential device of telegraph lever, thus the physical location of telegraph lever is reflected by current signal size, be rotary speed setting signal, deviation signal after comparing with the main frame real-time rotate speed fed back is delivered in engine speed complex control system 4 and is calculated oil supply amount size, frequency converter is given to the standard current signal of 0-20mA to oil mass, the current signal of reception is changed into the rate-adaptive pacemaker of 0-50Hz change by frequency converter, thus main control system rotating speed.Oily handwheel is adjusted to output signal the output current signal being actually the potentiometer being positioned at its inside, regulate the slide block that oily handwheel will drive on potentiometer, adjust the physical location of oily handwheel by flowing through the reflection of potentiometer size of current, be rotational speed setup signal, this signal is directly given to frequency converter.Main engine telegraph is for transmission between each operating position and Receiving Host operational order and transmit operation information, and wherein bridge and central control desk main engine telegraph are set to handle type carriage clock, and the other main engine telegraph of machine is set to button carriage clock, makes for returning.Auxiliary carriage clock is provided with standby car, navigation, complete car function, for realizing the running status that bridge needs to central control desk and machine other operator's console transmission main frame, return order by central control desk or the other operator's console of machine to reset, main frame need can enter running status by " START " pushbutton enable of the other operator's console of machine after standby car completes.Emergency clock is independently device, and during for remote control (bridge or central control desk) operating troubles, bridge or central control desk send engine room orders to the other operator's console of machine, need the other emergency clock of machine to return order and reset.After the action of manual-operated emergent lugs, must reset to emergent stop sign, just can reset main frame.On right main engine control control desk 3, indicating instrument shows marine main engine, the gear case parameters such as marine main engine rotating speed, ship's speed, stern tube shaft rotating speed, main frame accelerator open degree, main frame oil inlet pressure, main frame oil temperature, main frame cooling water temperature, gear case lubricating oil pressure and gear case working oil pressure respectively.
Four, the design and implimentation of engine speed complex control system 4
Engine speed complex control system 4 comprises Woodward2301D electron speed regulator and S7-1200PLC two parts.
Woodward2301D electron speed regulator is the digital governor with Auto load-shifting function based on microcomputer controlled for engine power generation unit, and this Controller gain variations is for controlling middling speed and high-speed diesel fuel engine or middling speed and high-speed gas engine.Its rated speed range of control is 600-3600rpm, and this controller has following function: speed controlling function, load controlling function, generator with during load synchronous/have difference run forwarding function, fuel limit function.Can be used at configuration menu and services menu configuration analog input and output type, actuator output type, load distribution, the gear case number of teeth, speed, pid parameter etc. by the Watch Window software of Woodward.Wherein pid parameter utilizes the Ziegler-Nichols loop technology of adjusting to determine, namely adjusts the counteractive aggressiveness level that controller produces the error between actual value and setting value.The essence adjusted in loop be exactly determine to controller action produce the counteractive aggressiveness level of process and pid algorithm to elimination error great help can be provided.
The control algolithm of S7-1200PLC comprises counter controls, fuzzy control and Fuzzy PID.Counter controls changes the count cycle according to deviation size, controls speed error within the scope of 2rpm.Fuzzy-adaptation PID control adopts calculated off-line in MATLAB to control scale, obtains PID controller parameters and online modification, realize the control to engine speed with the mode addressing of tabling look-up online.Specific design step is:
(1) domain of each variable, quantizing factor and membership function is established.The input variable of controller is rotating speed deviation e and deviation variation rate ec, and output variable is Kp, Ki and Kd, and corresponding fuzzy set is respectively: E, EC and KP, KI, KD, and this is the two-dimensional fuzzy controller that a dual input three exports, fuzzy set is all elected as { NB, NM, NS, ZO, PS, PM, PB}.
(2) control law of controller is set up according to pid parameter Self-tuning System principle.Use MATLAB software Fuzzy tool box---FIS Editor sets up fuzzy rule, and the fuzzy rule in FIS Editor being exported to Workspace, saving as fuzzy.fis file in order to calling.
(3) question blank is set up.Directly can not use in S7-1200PLC owing to exporting curved surface, fuzzy polling list must be converted thereof into evalfis function, use to facilitate S7-1200PLC.Utilize evalfis function to calculate fuzzy control table, the m file routine write is:
Thus, the fuzzy polling list about Kp, Ki, Kd is obtained respectively.
(4) realization of control algolithm in S7-1200PLC.By Kp, Ki, value in Kd fuzzy polling list is input in data block DB5, DB6, DB7 from top to bottom, from left to right respectively, by the storage of array of 1 × 169, side-play amount is 0.0, offset address then during addressing is (EN+6) * 13+(ECN+6), carry out addressing by FieldRead module and can inquire about to obtain increment △ KP, △ KI, △ KD, defuzzification obtains increment △ Kp(k), △ Ki(k), △ Kd(k), calculating actual pid parameter is: Kp(k)=∑ △ Kp(k), Ki(k)=∑ △ Ki(k), Kd(k)=∑ △ Kd(k).So far, fuzzy controller is formed.
Five, the design and implimentation of left main frame simulation control subsystem 5
Left main frame simulation control subsystem 5 is realized by VC++ and matlab hybrid programming.
The diesel engine model of analogue simulation of the present invention is MAN L+V32-40, and its design parameter is as shown in table 1:
Table 1, MAN L+V32-40 diesel engine model
| Cylinder diameter (mm) | 320/400 |
| Firing order | L:6，7，8，9V:12，14，16，18 |
| Running output power (kw) | 500 |
| Running speed (r/min) | 720*/750 |
| Mean piston speed (m/5) | 9.6/10.0 |
| Mean effective pressure (MP) | 25.9/24.9 |
When left main frame simulation control subsystem 5 runs, diesel main engine propulsion plant model in left main frame simulation control subsystem 5 carries out the real-time simulation under external schema, and the emulated data of parameter is sent to user interface, whole left main frame simulation control subsystem 5 runs the transmission and the management that realize real-time simulation and data under VC++ environment.Pass through telegraph lever setting speed at bridge interface or central control desk interface, utilize RTW real-time simulation as the input of diesel main engine propulsion plant model.According to the setting speed received, calculate marine main engine to oil mass, engine speed, ship course by diesel main engine propulsion plant model, and exchanged by VC++ and Matlab/Simulink model data and to be presented in real time on VC++ interface and to draw out corresponding speed curves.By menu setecting, the switching of bridge interface, central control desk interface, the other operator's console interface of machine, diesel engine cartoon interface can be realized.
Major technique:
1, Matlab engine interface calls Matlab/Simulink under making VC++ environment becomes possibility, it allows user can write C/C++ language application program and call Matlab, make Matlab run as a computing engines on backstage, simplify the task of foreground program design.Matlab engine meets OO programming idea, has reduced data calculating, readable high, security advantages of higher.Matlab engine and application program are that the function by providing in Matlab engine function library carries out exchanges data and order transmitting.
(1) basic function
Provide the Engine function of 13 C language in Matlab engine function library, the present invention mainly have invoked 6 basic built-in functions wherein, as shown in table 2:
Table 2, Matlab Engine function
| Function | Function |
| engOpen() | Start Matlab engine |
| engClose() | Close Matlab engine |
| engEvalString() | A character string is sent to Matlab |
| engOutputBuffer() | The word obtaining Matlab command window exports |
| engGetVariable() | A variable is copied from Matlab engine space |
| engPutVariable() | The work space of variable write Matlab engine |
(2) VC++ ambient As
First to set translation and compiling environment in VC++, after setting up new engineering, in the edit box of Include Files and Library Files, add the respective paths of Matlab root directory respectively; Secondly, quoting the library files such as libeng.lib, libmx.lib, libmat.lib, and in the class calling Matlab engine, quote header file " #include " engine.h " ", after completing, namely carrying out detail programming by calling above built-in function.
(3) emulation command
VC++ realizes the operation emulated by the Matlab expression formula (Simulink emulation command) that call function engEvalString () performs a character string forms.The order line emulation mode of Simulink has sim (), set_param () etc., and form is as follows:
sim('modelname',timespan,options,ut)
set_param('modelname','SimulationCommand','start')
(4) data type conversion
Data type in VC++ and Matlab to be changed when programming, when sending data by VC++ to Matlab, can be obtained the pointer of Matlab data type by function mxGetPr (), then call function memcpy () changes, form is as follows:
MxArray*W1=NULL; // create Matlab data type
W1=mxCreateDoubleMatrix(1,1,mxREAL);
Memcpy ((char*) mxGetPr (W1), (char*) ch1, sizeof (double)); // conversion
EngPutVariable (ep, " W1 ", W1); // by variable assignments to work space
When reading data from Matlab, directly can obtain pointer by call function mxGetPr () and come, form is as follows:
MxArray*L_n1=NULL; // create Matlab data type
L_n1=mxCreateDoubleMatrix(1,2,mxREAL);
L_n1=engGetVariable (ep, " L_n1 "); // obtain pointer
Double*LnDreal1=mxGetPr (L_n1); // assignment is to VC++ variable
Generate corresponding real-time simulation c code, utilize external schema, the object of real-time simulation can be reached, again can real-time monitored model.Based on the external schema simulation process of Real-Time Windows Target, be divided into three steps:
Connect To Target->Start real-time code->Stop real-time code
When realizing external schema real-time simulation according to above step, can the input parameter of real time modifying model, the gain values in Gain module, the amplitude etc. in Sine Wave module.
2, medium seed diesel engine three-dimensional visualization dynamic simulation
In the process that SolidWorks animation is preserved, intercepted in equal time and waited frame animation, each frame i.e. a width picture.Popular says, animation by a width width not in the same time, the single width image frame of different conditions forms.The animation that the present invention has made 18 seconds altogether embodies the complete course of work, preservation 3 width picture per second in recording process, the picture be saved can be described as key frame, between two key frames, computer forms transition frames automatically, due to the vision stop effect of people, as long as key frame obtains abundant, the transition between picture is just not fairly obvious.
VC++ has powerful multimedia function, realizes the process of graph image.The frame recording motion state of diesel engine in each details moment point that animation is preserved, the picture of frame can be extracted by software, saves as the form of bitmap by animation.VC++ provides a lot about the function of time operation, can completion timing and Clocked operation accurately.Call the SetTimer(of VC++) timer is set, at application program OnTimer() middle interpolation corresponding message response process statement, the operation of timing can be realized.
In VC++, timer is set, timing then, the message maps of refresh timer, order loads the bitmap of not diesel engine duty in the same time, realize the Dynamic Announce of bitmap, thus reach the object simulating diesel engine system dynamic duty emulation in Visual C++.When control end inputs different diesel engine condition rotating speeds, different timer is set, realizes the different bitmap rates of loading.
Six, PPI communication specific design and realization
PPI (Point to Point Interface) is a kind of master/slave agreement, and being S7-200PLC acquiescence, is also the most basic communication mode.It passes through the built-in PPI interface (Port0 or Port1) of S7-200PLC, adopts general RS-485 twisted-pair cable to network.Main website can be that other CPU(are as S7-300/400PLC), SIMATIC programmable device, TD200 text display etc.Use PPI agreement can set up the many main websites network comprising at most 32 main websites, main website comes and slave station communication by the Share interlinkage of a PPI consultative management, PPI agreement is not restricted to the main website quantity of any one slave station communication, but in one network, the number of main website can not more than 32.In the present invention, main frame simulator stand 1 and host monitor and warning system 2 use PPI protocol communication respectively and between right main engine control control desk 3.By using PPI master station mode, allowing the S7-200PLC of the other operator's console of bridge, central control desk and machine under Run pattern as main website, using network to read (NETR) and network is write (NETW) instruction and read and write data in other S7-200PLC.These are as the S7-200PLC of PPI main website, also simultaneously as the communication request of slave station response from other main websites.
Seven, Modbus communication specific design and realization
Modbus RTU form message agreement carries out data transmission in the mode of MS master-slave, and main website sends request of data message to slave station, and slave station returns response message.In the present invention, S7-1200PLC adopts Modbus RTU to communicate with the bridge S7-200PLC of right main engine control control desk 3.Serial communication modular CM1241RS232 and CM1241RS485 all supports Modbus rtu protocol, can be used as Modbus main website or slave station communicates with the third party device of support Modbus RTU.The present invention makes slave station with S7-200PLC, S7-1200PLC makes main website, the communication of Modbus rtu protocol is carried out with serial communication modular CM1241RS485, first the port parameter of serial communication modular CM1241RS485 is configured in S7-1200PLC software STEP7Basic, in initialization tissue block OB100, call MB_COMM_LOAD instruction afterwards to arrange communication interface parameter, then in master routine tissue block OB1, call MB_MASTER instruction and communicate with S7-200PLC as main website.
Eight, OPC communication specific design and realization
OPC is Object Linking and Embedding(OLE) abbreviation of for Process Control, it is the application of object linked and embedding technology in process control of Microsoft.OPC is based on OLE/COM/DCOM technology, adopt customer end/server mode, for the OO exploitation of Industrial Automation Software provides unified standard, this standard define the method that application microsoft operating system exchanges Automated real-time data between the client computer of Based PC.
SimaticNet is an important component part in Siemens's Integrated automation system, and the communication that it is perfect industrial automation control system provides parts and network, provides multiple OPCServer simultaneously, for the external reference of data provides interface.
Left main frame simulation control subsystem 5 writes client-side program by VC, access OPC.SimaticNet, and adopt synchronous read-write to read and write S7-1200PLC data, program main frame is:
。
Claims (1)
1. the two diesel main engine Solid rocket engine hardware-in-loop simulation system of boats and ships, it is characterized in that: comprise main frame simulator stand (1), host monitor and warning system (2), right main engine control control desk (3), engine speed complex control system (4) and left main frame simulation control subsystem (5), described main frame simulator stand (1) and host monitor and warning system (2) carry out communication with right main engine control control desk (3) by the PPI agreement that Siemens S7-200PLC is special respectively; Described engine speed complex control system (4) comprises electron speed regulator and Siemens S7-1200PLC, S7-1200PLC pass through Modbus agreement and right main engine control control desk (3) communication; Described left main frame simulation control subsystem (5) realizes the mutual exchange of data by the S7-1200PLC of OPC agreement and engine speed complex control system (4);
Described main frame simulator stand (1) comprises main frame and gear case signal imitation case, frequency converter, threephase asynchronous machine, reduction gear box, screw propeller; Main frame and gear case signal imitation case are used for the important parameter of simulation framework and gear case, frequency converter controls threephase asynchronous machine rotating speed according to main frame to oil mass signal, the driving shaft of threephase asynchronous machine connects reduction gear box, and is rotated by reduction gear box carrying screws;
Described host monitor and warning system (2) comprise alarm monitoring and more control panel, indicating instrument and touch-screen; Alarm monitoring and more control panel are used for Host Status supervision, hostdown reduction of speed and the alarm of scram and the more control operation of cancellation fault reduction of speed and scram action; Indicating instrument is for monitoring host parameter, so that user understands main frame ruuning situation; Touch-screen is used for the ship's speed of monitoring, engine speed value to show with curve form, and provides current alerts to inquire about and history warning query function;
Described right main engine control control desk (3) comprises the other operator's console of bridge, central control desk and machine; Bridge comprises telegraph lever, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument; Central control desk is identical with bridge structure; The other operator's console of machine comprises adjusts oily handwheel, main engine telegraph, auxiliary carriage clock, emergency clock, manual-operated emergent lugs, touch-screen and indicating instrument; Above-mentioned telegraph lever, oily handwheel and indicating instrument is adjusted to be connected with the analog input and output end of S7-200PLC respectively; Above-mentioned main engine telegraph, auxiliary carriage clock and manual-operated emergent lugs are connected with the number connect test end of S7-200PLC respectively; Bridge, central control desk are connected with the RS-485 communication port of S7-200PLC respectively with each touch-screen in the other operator's console of machine; Emergency clock in the other operator's console of bridge, central control desk and machine is all autonomous devices, and by its inner Single-chip Controlling, the emergency clock in bridge is connected respectively with between the emergency clock in the other operator's console of central control desk and machine by 5 core cables; Described touch-screen and indicating instrument share touch-screen in host monitor and warning system (2) and indicating instrument;
Described engine speed complex control system (4) comprises electron speed regulator and Siemens S7-1200PLC, described electron speed regulator model is Woodward 2301D, be integrated with PID controller, by the parameter of the configurable electron speed regulator of Watch Window software of Woodward; Be mounted with counter controls algorithm, FUZZY ALGORITHMS FOR CONTROL and Fuzzy PID in described Siemens S7-1200PLC, according to given engine speed and host work characteristic, realize the Comprehensive Control to engine speed and ship's speed;
Described left main frame simulation control subsystem (5) is a PC being provided with simulation software, and simulation software adopts VC++ language to mix with Matlab/Simulink language and works out; Bridge interface, central control desk interface, the other operator's console interface of machine, diesel engine cartoon interface and rotating speed ship's speed curve map interface is comprised with the user interface of VC++ language development; Diesel engine subsystem module, quant subsystem module, control system module and gear case subsystem module is comprised with the diesel propulsion system model that Matlab/Simulink language is set up; User interface realizes the exchanges data with diesel propulsion system model by adopting the method for Matlab engine; Described diesel engine animation comprises four-cycle diesel three-dimensional entity model, the three-dimensional entity model of spacing oar propulsive unit and propulsion system dummy model, and utilizes VC++ language to realize the three-dimension animation of the diesel propulsion plant course of work.
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| CN106157729A (en) * | 2015-03-20 | 2016-11-23 | 中国人民解放军镇江船艇学院 | Ship power system simulator |
| CN107015482A (en) * | 2016-01-27 | 2017-08-04 | 中国人民解放军镇江船艇学院 | A kind of ship central station of floating dock operation training simulator |
| CN105845017A (en) * | 2016-06-15 | 2016-08-10 | 上海海事大学 | Ship host trailing method through motor and ship host trailing system thereof |
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| CN108490996A (en) * | 2018-04-19 | 2018-09-04 | 南通航运职业技术学院 | A kind of diesel engine speed based on power function accurately adjusts algorithm |
| CN108828943A (en) * | 2018-06-20 | 2018-11-16 | 南通航运职业技术学院 | A kind of Auto-disturbance-rejection Control with disturbance compensation and finite time convergence control |
| CN109911110B (en) * | 2019-03-27 | 2020-04-21 | 武汉理工大学 | Stability-variable ship |
| CN113064356A (en) * | 2021-03-26 | 2021-07-02 | 中国舰船研究设计中心 | Marine nuclear power digital heterogeneous operation control verification system and verification method |
| CN113641117B (en) * | 2021-06-28 | 2022-12-13 | 沪东中华造船(集团)有限公司 | Ship main propulsion monitoring system and simulation test method under mooring working condition thereof |
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