CN104483845B - Ship autopilot algorithm testing simulation system - Google Patents
Ship autopilot algorithm testing simulation system Download PDFInfo
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Abstract
The invention discloses a ship autopilot algorithm testing simulation system, which comprises a main framework, a standard electronic chart module, a ship moving mathematical model module, a navigation calculation toolkit module, a route design module and an autopilot controller module. The standard electronic chart module is built in the ship autopilot algorithm testing simulation system, the standard electronic chart module is based on an international standard electronic chart and can load global electronic chart data at an S57 format, in addition, the global chart can be browsed in a stepless zooming way at any proportional scale, various data display modes and color display schemes are realized, and the whole interface is simple, compact and attractive. The ship autopilot algorithm testing simulation system has the advantages that different wind flow conditions can be set, so that a ship can realize the simulated navigation under the vivid maritime interference condition. A user can test a ship autopilot for a long time in a large range in any sea area in the global range without time and place limitation, so that the problems of great risk, long debugging period and high cost in real ship testing of the ship autopilot are solved.
Description
Technical field
The present invention relates to a kind of Marine Autopilot test of heuristics analogue system in Navigation Simulation field.
Background technology
Water transport is between area and area, inter-State carries out the means of transportation that block trade is maximally efficient.
The raising of development of world economy level, promotes trade contacts between each department, various countries progressively to go deep into, and transaction
Amount constantly increases, thus causes maritime traffic density constantly to increase, and, can not when boats and ships ride the sea
Can be affected by factors such as wind, wave, stream, mist, reefs with avoiding, vessel motion be produced and disturbs, therefore,
Ship motion controller is an important field of research, and the design of ship motion controller device is that one of them is important
Research topic, its final goal is to improve shipboard automation, intelligent level, it is ensured that the safety of ship's navigation
Property, economy and comfortableness.
Cybernatic all-round prosperity is that the design of ship motion controller device provides a lot of control algolithm.Particularly
ANN Control, fuzzy control, hybrid intelligent control, H ∞ robust control and nonlinear Control scheduling theory
All it is incorporated into the design field of ship motion controller device to some extent, sending out for ship motion controller subject
Exhibition is filled with vigor.Traditional autopilot algorithm needs during engineering practice repeatedly to go up from proposing to put into
Ship carries out the test of shiphoard measurement i.e. circle type, and this testing scheme somewhat expensive, cycle length, danger coefficient are high,
At product it cannot be guaranteed that during navigation safety user captain do not allow to attempt using the new algorithm carrying out testing.
In today that science and technology develops rapidly, computer simulation emulation technology is own through becoming many complicated systems
The requisite means that system is analyzed, designs, tests, assesses, it is based on mathematical theory, with
Computer and various physical facility are equipment tool, utilize system model to carry out actual or imagination system
One complex art of test simulation research, mainly has physical simulation, Digital Simulation and physics-numeral mixing imitative
The method such as true.Have that risk is big for Marine Autopilot shiphoard measurement, debugging cycle length, shortcoming costly,
And facilitate scientific research personnel's research to autopilot algorithm.Therefore, computer simulation emulation technology is applied at ship
In oceangoing ship autopilot algorithm test, design Marine Autopilot test of heuristics analogue system can efficiently solve this type of
Problem.
In the existing Marine Autopilot test of heuristics analogue system utilizing computer simulation emulation Technology design
In, utilize Simulink workbox in Matlab to carry out system emulation checking autopilot algorithm controls performance,
But being intended to these programs be used in product model machine, Program transformation process is considerably complicated and needs the biggest workload；
There is Marine Autopilot simulation test platform based on full task ship maneuvering simulator, by being then based on full task
Ship maneuvering simulator, so purchase and operating cost are the highest, is unfavorable for popularizing, and uses certainly
Definition grating vector sea chart, display is unsightly；Also a kind of Marine Autopilot algorithm simulating based on VB is had to survey
Examination platform, is realized by being then based on VB, so platform execution efficiency is the highest, is unfavorable for quickly testing autopilot
Algorithm, it uses simple Mercator chart, the limited size of test marine site scope simultaneously, only arranges 4
Individual scale, it is impossible to stepless zooming shows.
In sum, current Marine Autopilot test of heuristics system is primarily present problems with:
1, the electronic chart do not adopted international standards, show coarse unsightly, be not suitable for long-time big marine site
The test of scope.
2, when Marine Autopilot test of heuristics, it is impossible to regulate the parameter of autopilot algorithm in real time, and cannot
Course line needed for real time modifying test flight path autopilot.
3, different simulation time ratios can not be set, thus cannot quickly test Marine Autopilot algorithm.
At present, be provided that close with marine practical situation based on Electronic Chart Compliant with S, can regulate in real time
Parameter, the Marine Autopilot test of heuristics analogue system of quickly test but there is no precedent.
Summary of the invention
For solving the problem of spot ship autopilot algorithm test analogue system, it is an object of the invention to design energy
There is provided close with marine practical situation, in real time regulate parameter and simulation time ratio can be set it is thus possible to
Quickly a kind of Marine Autopilot test of heuristics analogue system of test.
To achieve these goals, technical scheme is as follows: a kind of Marine Autopilot test of heuristics is imitated
True system, calculates including main frame, standard electronic sea chart module, ship motion mathematical model module, navigation
Workbox module, flight-line design module and autopilot controller module；Described main frame uses Visual
The single document program of the MFC of C++, other each modules use dynamic chanining bank interface technology to be packaged design；
Described main frame is the single document program of MFC based on Visual C++, mainly completes the friendship of user
Display interface mutually, described mutual display interface includes main viewing area, information display panel, ambient As face
Plate, this ship arrange panel, steering arranges panel and behaviour's deck plate；Described main viewing area includes that display is drawn
Sea chart, variable range marker circle, course line, this STOWAGE PLAN mark and flight path；Described information display panel includes that display is originally
Ship's head, the speed of a ship or plane, turn bow angular velocity, vertically and horizontally speed, position, target course point and cross track distance；
External disturbance when described ambient As panel is for arranging amendment autopilot algorithm test, external disturbance bag
Include wind speed, wind direction, flow velocity and the flow direction；When this described ship arranges panel for selecting autopilot algorithm test
Ship model, directly input longitude and latitude or this ship position be set by mouse, the speed of a ship or plane and the course of this ship is set；
Described steering arranges panel for selecting the classification of steering and selecting different autopilot algorithms, and arranges imitative
True time scale, simulation time ratio is set to 1 or more than 1, i.e. simulation time is 1 with the ratio of actual time
Or more than 1；Described behaviour's deck plate is used for on-off control and rudder and the control of carriage clock of emulation testing and shows
Show, simultaneously also by call form and standard electronic sea chart module, the boats and ships motion mathematics of dynamic link library
Model module, navigation calculate workbox module, flight-line design module and autopilot controller module and carry out communication；
Described standard electronic sea chart module resolves the electronic chart data of S57 international standard, uses S-52 mark
Quasi-display charting, loads the S57 form electronic chart data in the whole world, and with the stepless contracting of arbitrary scale
Put and browse whole world sea chart, there are three kinds of data display modes: basic display, standard show and all show；
There are three kinds of Color schemes: daytime, dusk and night；
Described ship motion mathematical model module is the basis of ship motion controller device design, uses three freely
The MMG Ship autopilots of degree motion, being mainly characterized by of MMG Ship autopilots will act on boats and ships
Fluid dynamic and moment, according to physical significance, are decomposed into and act on hull, spacious water propeller and spacious water rudder
Fluid dynamic and moment, and interfere fluid dynamic and moment between them；Described three are freely
Degree motion includes surge motion, swaying motion and yawing campaign；
Described navigation calculates between power function that the navigation that workbox module includes commonly using calculates, two theodolite places
Distance and the calculating in orientation, the calculating of meridional parts；
Described flight-line design module is for designing the course line needed for test flight path autopilot；The merit of flight-line design
Can all concentrate in flight-line design panel, user's menu by main frame, open or close flight-line design
Panel；User is increased, revises and deletes way point on sea chart in real time and designs course line by mouse；In sea
After the complete way point of drawing design, then on flight-line design panel, name course line, increase course line terminal port information；
The position of way point, relative distance and relative bearing letter are checked in way point list on the right of flight-line design panel
Cease and can arrange the left and right cross track distance of every course line section；The course line designed is shown in flight-line design panel
In the course line list on the left side, be made whether every course line to show on sea chart, navigate, edit, delete and
Preserve operation；Store a large amount of course line, and the course line being used for flight tracking control is carried out real-time edition and reality
Time detection autopilot algorithm control effect；
Described autopilot controller module is for adding the autopilot algorithm of access customer design and testing autopilot calculation
Method.Autopilot controller module is write by user, is adjusted by main frame with the form of MFC extended dynamic chained library
With；Autopilot controller module uses the data-interface of self-defined standard, and autopilot controller module is by mark
Quasi-interface tells which control algolithm main frame current autopilot controller module has, and main frame then can be corresponding
Initialize the algorithm list in main frame interface.During test autopilot algorithm, main frame provides to control module
Input parameter, described input parameter includes that the currently selected control algolithm of main frame and selected course line are believed
Breath or the course kept, the position of boats and ships, the speed of a ship or plane, course, turn bow angular velocity, target course point, driftage
Distance, the captain of Ship autopilots, the beam, drinking water, moldeed depth, displacement, Block Coefficient.
Compared with prior art, advantages of the present invention and providing the benefit that:
1, the present invention constructs standard electronic sea chart module, this module electronic chart based on international standard, energy
Enough S57 form electronic chart datas loading the whole world, and whole world sea chart can be browsed by arbitrary scale stepless zooming,
Having multiple data display mode and color displaying scheme, whole simple interface is attractive in appearance.The present invention can be arranged not
Same distinguished and admirable situation so that boats and ships can be in marine disturbed condition Imitating navigation true to nature.User is permissible
Do not limited by time, place, can in the whole world any marine site, the most for a long time test boats and ships automatic
Rudder, thus solve Marine Autopilot shiphoard measurement have that risk is big, debugging cycle length, problem costly.
The present invention uses computer simulation emulation technology, construct be provided that close with marine practical situation based on electricity
The Marine Autopilot test emulation system of sub-sea chart.
2, having put up whole autopilot test environment due to the present invention, autopilot controller module leads to simultaneously
Cross standard interface protocol, so user only need to concentrate one's energy to study and write in autopilot controller module
Autopilot algorithm, it is not necessary to time consumption during building test environment, greatly facilitates autopilot and calculates
The research staff of method, and autopilot controller parameter, beneficially quicklook can be revised when simulation run
Recall satisfied autopilot controller parameter.The present invention can arrange simulation time ratio, both can be set to existing
1:1 emulation between Shi Shi, it is possible to be set to the emulation of super reality time scale, so the time waiting result can be saved,
Quickly calculate inspection simulation result.The present invention has powerful flight-line design function, can be with flexible design and deposit
Store up a large amount of course line, and can be with real-time edition for the course line of flight tracking control, real-time verification control algolithm
Implementation effect.The invention provides the motion mathematical model of a plurality of ship, so user can be to same calculation
Method selects a plurality of ship to test, beneficially effective to dissimilar boats and ships of testing algorithm.
Accompanying drawing explanation
The present invention has 4, accompanying drawing, wherein:
Fig. 1 is present invention Marine Autopilot based on electronic chart test emulation system.
Fig. 2 is the operational flowchart of present invention Marine Autopilot based on electronic chart test emulation system.
Fig. 3 is the main interface of system of present invention Marine Autopilot based on electronic chart test emulation system.
Fig. 4 is the flight-line design panel of present invention Marine Autopilot based on electronic chart test emulation system.
In figure: 1, main frame, 2, electronic chart module, 3, ship motion mathematical model module, 4, boat
Sea calculates workbox module, and 5, flight-line design module, 6, autopilot controller module.
Detailed description of the invention
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described through.As it is shown in figure 1,
Marine Autopilot test emulation system based on electronic chart include main frame 1, electronic chart module 2,
Ship motion mathematical model module 3, navigation calculate workbox module 4, flight-line design module 5, autopilot control
Device module 6 processed.Described main frame 1 uses the single document program of the MFC of Visual C++, other
Each module uses dynamic chanining bank interface technology to be packaged design；
Described main frame 1 is the single document program of MFC based on Visual C++, mainly completes user's
Mutual display interface, mutual display interface includes: the most main viewing area: display charting, variable range marker circle, boat
Line, this STOWAGE PLAN mark, flight path；2. information display panel: show this ship's head, the speed of a ship or plane, turn bow angular velocity,
Vertically and horizontally speed, position, target course point, cross track distance；3. ambient As panel: be used for arranging amendment
External disturbance during autopilot algorithm test, including wind speed, wind direction, flow velocity, the flow direction；4. this ship arranges face
Plate: ship model during for including selecting autopilot algorithm test, is directly inputted longitude and latitude or is arranged by mouse
This ship position, arranges the speed of a ship or plane of this ship, course；5. steering arranges panel: for select steering classification and
Selecting different autopilot algorithm, and arrange simulation time ratio, simulation time ratio is set to 1 or more than 1,
I.e. simulation time is 1 or more than 1 with the ratio of actual time；6. behaviour's deck plate；For including emulation testing
On-off control and rudder and the control of carriage clock and display.Simultaneously also by with call the form of dynamic link library with
Electronic chart module 2, ship motion mathematical model module 3, navigation calculate workbox module 4, flight-line design
Module 5, autopilot controller module 6 interact；
Described electronic chart module 2, can resolve the electronic chart data of S57 international standard, uses S-52
Standard display charting.The S57 form electronic chart data in the whole world can be loaded, and can arbitrary scale
Stepless zooming browses whole world sea chart.There are three kinds of data display modes: basic display, standard show, all
Display；There are three kinds of Color schemes: daytime, at dusk, night.
Described ship motion mathematical model module 3 is the basis of ship motion controller device design, and native system is adopted
With the MMG Ship autopilots of three-degree-of-freedom motion (i.e. surge motion, swaying motion and yawing campaign),
The fluid dynamic being mainly characterized by will act on boats and ships of MMG model and moment, according to physical significance, are decomposed
For acting on the fluid dynamic on hull, spacious water propeller and spacious water rudder and moment, and between them
Interfere fluid dynamic and moment.
Described navigation calculates workbox module 4 and mainly includes the power function that some conventional navigations calculate,
Including the distance between two theodolite places and the calculating in orientation, the calculating etc. of meridional parts.
Described flight-line design module 5 is mainly used in the course line needed for design test flight path autopilot.Course line sets
The function of meter all concentrates in flight-line design panel, and user can be opened by the view in System menu
Or closed route design panel；User can be increased on sea chart in real time by mouse, and air route is deleted in amendment
Point designs course line；After the complete way point of drawing design of sea, course line can be named on flight-line design panel,
Increase course line terminal port information；The position of way point is checked in way point list on the right of flight-line design panel,
Relative distance, relative orientation information also can arrange the left and right cross track distance of every course line section；The course line designed
It is shown in the course line list on the flight-line design panel left side, every course line can be made whether on sea chart
Show, navigate, edit, delete, the operation such as preservation；A large amount of course line can be stored, and be used for navigating
The course line that mark controls with real-time edition, can detect the control effect of autopilot algorithm in real time.
Described autopilot controller module 6 is incorporated into the autopilot algorithm in systems of user's design
Test autopilot algorithm.Therefore, autopilot controller module 6 is generally write by user.Autopilot controller
Module 6 is to be called by main frame with the form of MFC extended dynamic chained library, can comprise one or more certainly
Dynamic rudder algorithm.Autopilot controller module 6 uses the data-interface of self-defined standard, autopilot controller mould
By standard interface, block 6 tells which autopilot algorithm the current autopilot controller module 6 of main frame 1 has,
Main frame 1 then can the autopilot algorithm list in initial main frame interface accordingly.During test autopilot algorithm,
The input that main frame 1 provides to autopilot controller module 6 includes: currently selected automatic of main frame 1
Rudder algorithm and selected route information or the course of holding；The position of boats and ships, the speed of a ship or plane, course, turn bow angle speed
Degree, target course point, cross track distance；The captain of Ship autopilots, the beam, drinking water, moldeed depth, draining
The data such as amount, Block Coefficient.
The method of work of the present invention, comprises the following steps (simulation operations main flow is shown in Fig. 2):
A, startup system.
B, test autopilot algorithm: user starts to test autopilot algorithm, need to first select steering pattern, if
Selecting flight path autopilot, autopilot algorithm and course line need to be selected, if there is no course line, then wanting a newly-built course line.
If selecting course autopilot, the course of holding need to be set.
C, parameter are arranged: arrange the parameter such as distinguished and admirable ambient parameter and the position of this ship, course, speed.
D, start emulation: click on behaviour deck plate on " beginning " knob start emulate, " start " therewith to press
Distortion is " end " knob.Time-out can be carried out during operation emulate, revise distinguished and admirable setting, revise and imitate
The operations such as true time scale.
E, end emulation: click on " end " knob and terminate emulation, can prompt the user whether to preserve this simultaneously
Emulation testing data.Log file can be named and select catalogue to preserve by user.
F, log off.
The embodiment of each subsystem of the present invention is as follows:
1, the embodiment of main frame 1
Main frame 1 is to use Visual Studio 2010 platform to build in Windows operating system,
Main frame 1 mainly completes the mutual display interface of user, including main viewing area, information display panel, environment
Arrange panel, this ship arranges panel, steering arranges panel, behaviour's deck plate.Simultaneously also by call dynamically
The form of chained library calls other submodules.
User interface is to interact between the present invention and user and the medium of information exchange, it is achieved that information
Inner form and user can be to accept the conversion between form.Therefore, during user interface is the present invention the heaviest
The aspect wanted, should ensure the beautiful interface generous operating habit meeting user again during design.User can
By interface the present invention carried out various operation, also can the control effect of visual test autopilot.Main frame 1
Specifically use the single grade of pattern framework of MFC, give tacit consent to choosing multiple application program outward appearance.Other show control
Panel processed is all based on floating the MFC control stopped, if the default layout of the uncomfortable system of user, can be by
Individual habit of user layout again, it is possible to close or show whole display control panel.The main boundary of acquiescence realized
Face is as shown in Figure 3.
2, electronic chart module 2
Electronic chart module 2, by resolving the electronic chart data of S57 international standard, then uses S-52 mark
Quasi-display charting.This electronic Chart Display module can load the S57 form electronic chart data in the whole world,
According to the geographical indication range of current window, automatically load corresponding sea chart, and can the stepless contracting of arbitrary scale
Put and browse whole world sea chart.Electronic chart module 2 is to be packaged into the dynamic link library of standard, and it externally provides
Plot and display, the functional interface function such as display pattern.So main frame 1 calls corresponding function, just can be complete
Become the display of sea chart.The display of sea chart is in main frame 1 in front view class CShipAutoControlView
OnPaint function in complete:
3, ship motion mathematical model module 3
Boats and ships motion model is the core that design realizes Marine Autopilot test of heuristics analogue system, so first
The modeling of ship motion mathematical model need to be completed.What the present invention set up is three-degree-of-freedom motion (i.e. surging fortune
Dynamic, swaying motion and yawing campaign) MMG ship motion mathematical model, based on MMG model
Set up boats and ships plane motion equation such as following formula:
Wherein, m is hull mass；mx、myIt is respectively the additional mass of boats and ships vertical and horizontal；Izz、JzzRespectively
Yawing and added moment of inertia for boats and ships；urAnd vrFor boats and ships speed through water；X, Y, N are for acting on hull
External force and moment, subscript h, p, r, e represent hull, propeller, rudder and external environment respectively.
The main function of ship motion mathematical model module 3 is according to the ship model selected in main frame 1, arranges
Distinguished and admirable ambient parameter and this parameter such as ship's head, the speed of a ship or plane, first calculate in formula (1) distinguished and admirable wait make
External force on hull and moment, then utilize Runge Kutta method to solve formula (1), obtains the vertical of boats and ships
Lateral velocity and turn bow angular velocity.The resolving of ship motion mathematical model specifically front view in main frame 1
Calling in OnTimer timing function in class CShipAutoControlView, this intervalometer is every 0.5
Second triggers once, and then resolving obtains Ship dynamic situation data.OnTimer function part is as follows:
4, navigation calculates workbox module 4
Navigation calculates workbox module 4 and mainly the power function that some conventional navigations calculate all is encapsulated in one
In individual dynamic link library, then call for main frame 1.It mainly includes the distance between two theodolite places and orientation
Calculating, the function such as calculating of meridional parts.
5, flight-line design module 5
Flight-line design module 5 is mainly used in the course line needed for design test flight path autopilot.This module is packed
Becoming the MFC dynamic link library of extension, the function of flight-line design is concentrated mainly on flight-line design panel, user
Flight-line design panel can be opened or closed by the view in System menu；The function of flight-line design includes
Sea chart increases in real time, amendment, delete way point and design course line；Course line name, terminal port information are set；
The position of way point, relative distance are checked in way point list on the right of flight-line design panel, and relative bearing is believed
Cease and can arrange the left and right cross track distance of every course line section；The course line designed is shown in flight-line design panel
In the course line list on the left side, can be made whether every course line to show on sea chart, navigate, edit, delete
Remove, preservation etc. operates；Flight-line design board interface is as shown in Figure 4.
6, autopilot controller module 6
Autopilot controller module 6 is incorporated into the autopilot algorithm of user's design and tests in systems certainly
Dynamic rudder algorithm.Therefore, autopilot controller module 6 is generally write by user.Autopilot controller module 6
It is to be called by main frame with the form of MFC extended dynamic chained library, one or more autopilots can be comprised and calculate
Method.Autopilot controller module 6 uses the data-interface of self-defined standard, autopilot controller module 6 to lead to
Cross standard interface and tell that main frame current autopilot controller module 6 has which autopilot algorithm, main frame 1
Then can the autopilot algorithm list in initial main frame interface accordingly.Main frame 1 gives autopilot controller mould
The input that block 6 provides includes the currently selected autopilot algorithm of system, ship model, selected route information etc.
Data.The autopilot interface function provided is autoPilot (), and autoPilot function part is as follows:
Present invention achieves following functions:
1, sea chart function.The present invention can load the S57 form electronic chart data in the whole world, and the present invention transports
Before row, * .000 file is placed on assigned catalogue by user, just can be according to current window model when the present invention runs
Enclose the sea chart automatically loading relevant position；Sea chart can be browsed by arbitrary scale stepless zooming；Three kinds of data show
Mode: basic display, standard show, all show；Three kinds of Color schemes: daytime, at dusk, night；
2, flight-line design function.User can open or close course line by the view in menu of the present invention
Design panel；User can be increased on sea chart in real time by mouse, amendment, deletes way point and designs boat
Line；After the complete way point of drawing design of sea, course line can be named on flight-line design panel, increase course line and rise
Settled port information；The position of way point is checked in way point list on the right of flight-line design panel, relative distance,
Relative orientation information also can arrange the left and right cross track distance of every course line section；The course line designed is shown in boat
In the course line list on the line design panel left side, can be made whether every course line to show on sea chart, navigate,
Edit, delete, the operation such as preservation；A large amount of course line can be stored, and for the course line of flight tracking control
The control effect of autopilot algorithm with real-time edition, can be detected in real time.
3, function is set.Mainly include following functions: 1. ambient As: amendment controller can be set in real time
Outside interference during test, including wind speed, wind direction, flow velocity, the flow direction；2. this ship is arranged: optional control
Device test time ship model, directly input longitude and latitude or this ship position be set by mouse, arrange this ship the speed of a ship or plane,
Course；3. steering is arranged: user can select hand steering, flight path autopilot, course autopilot；Select hands
Steering can control boats and ships by the carriage clock of boats and ships and rudder and move；The optional different autopilot algorithms of autopilot, boat
Mark autopilot may select different course lines, and course autopilot need to input the course of holding；4. controller parameter sets
Put: controller research staff can arrange and adjust controller parameter when simulation run；5. simulation time ratio
Arrange: both can be set to and reality time 1:1 emulation, it is possible to be set to the emulation of super reality time scale.
4, display function.Sea chart shows this ship and flight path；During large scale, with by the actual length and width of ship
Sea chart shows, when small scale, shows with two concentric circulars；Can select that track line shows is thick
Thin and color；With the form of data or curve show the position of this ship, course, the speed of a ship or plane, target course point,
The information such as cross track distance；When testing autopilot, the order rudder angle of controller output can refresh steering face in real time
Rudder control indicated angle on plate, the effectiveness of observation autopilot algorithm that the most more can be vivid.
5, record and playback function.One emulation terminates whether rear prompting automatically preserves all of this emulation
This ship multidate information, steering record, selected autopilot algorithm and course line, corresponding distinguished and admirable ambient As etc. have
Effect data.So user can emulate data, the performance of contrast autopilot algorithm by recovering and analysis.
6, other functions.There is orientation away from mark circle instrument, distance and bearing can be measured on sea chart.
Claims (1)
1. a Marine Autopilot test of heuristics analogue system, it is characterised in that: include main frame (1), mark
Quasi-electronic chart module (2), ship motion mathematical model module (3), navigation calculate workbox module (4),
Flight-line design module (5) and autopilot controller module (6)；Described main frame (1) uses Visual
The single document program of the MFC of C++, other each modules use dynamic chanining bank interface technology to be packaged design；
Described main frame (1) is the single document program of MFC based on Visual C++, completes user's
Mutual display interface, described mutual display interface includes main viewing area, information display panel, ambient As
Panel, this ship arrange panel, steering arranges panel and behaviour's deck plate；Described main viewing area includes that display is painted
Sea chart processed, variable range marker circle, course line, this STOWAGE PLAN mark and flight path；Described information display panel includes display
This ship's head, the speed of a ship or plane, turn bow angular velocity, vertically and horizontally speed, position, target course point and driftage away from
From；External disturbance when described ambient As panel is for arranging amendment autopilot algorithm test, outside dry
Disturb and include wind speed, wind direction, flow velocity and the flow direction；This described ship arranges panel for selecting autopilot algorithm to survey
Ship model during examination, directly inputs longitude and latitude or arranges this ship position by mouse, arranges the speed of a ship or plane and the boat of this ship
To；Described steering arranges panel for selecting classification and the different autopilot algorithms of selection, the Yi Jishe of steering
Putting simulation time ratio, simulation time ratio is set to 1 or more than 1, i.e. simulation time and the ratio of actual time
It is 1 or more than 1；Described behaviour's deck plate for the on-off control of emulation testing and the control of rudder and carriage clock and
Display, simultaneously also by call form and standard electronic sea chart module (2), the boats and ships fortune of dynamic link library
Dynamic mathematical model module, navigation calculate workbox module, flight-line design module (5) and autopilot controller mould
Block (6) carries out communication；
Described standard electronic sea chart module (2) resolves the electronic chart data of S57 international standard, uses S-52
Standard display charting, loads the S57 form electronic chart data in the whole world, and stepless with arbitrary scale
Scaling browses whole world sea chart, has three kinds of data display modes: basic display, standard show and all show；
There are three kinds of Color schemes: daytime, dusk and night；
Described ship motion mathematical model module (3) is the basis of ship motion controller device design, uses three
The MMG Ship autopilots of degree of freedom motion, being mainly characterized by of MMG Ship autopilots will act on
Fluid dynamic on boats and ships and moment according to physical significance, be decomposed into act on hull, spacious water propeller and
Fluid dynamic on spacious water rudder and moment, and interfere fluid dynamic and moment between them；Described
Three-degree-of-freedom motion include surge motion, swaying motion and yawing campaign；
Described navigation calculates the power function of navigation calculating, two longitudes and latitudes that workbox module (4) includes commonly using
Distance between point and the calculating in orientation, the calculating of meridional parts；
Described flight-line design module (5) is for designing the course line needed for test flight path autopilot；Flight-line design
Function all concentrate in flight-line design panel, user, by the menu of main frame (1), opens or closes
Flight-line design panel；User is increased, revises and deletes way point on sea chart in real time and designs boat by mouse
Line；After the complete way point of drawing design of sea, then on flight-line design panel, name course line, increase course line the beginning and the end
Port information；The position of way point, relative distance and phase are checked in way point list on the right of flight-line design panel
To azimuth information left and right cross track distance that every course line section can be arranged；The course line designed is shown in course line
In the course line list on the design panel left side, be made whether every course line to show on sea chart, navigate, edit,
Delete and preserve operation；Store a large amount of course line, and the course line being used for flight tracking control is compiled in real time
Collect and detect in real time the control effect of autopilot algorithm；
Described autopilot controller module (6) is for adding the autopilot algorithm of access customer design and testing automatically
Rudder algorithm；Autopilot controller module (6) is write by user, with the form of MFC extended dynamic chained library
Called by main frame (1)；Autopilot controller module (6) uses the data-interface of self-defined standard, from
Dynamic rudder controller module (6) tells main frame (1) current autopilot controller module (6) by standard interface
Having which autopilot algorithm, it is automatic that main frame (1) then can initialize in main frame (1) interface accordingly
Rudder algorithm list；During test autopilot algorithm, main frame (1) provides input parameter to control module, described
Input parameter include the currently selected autopilot algorithm of main frame (1) and selected route information or holding
Course, the position of boats and ships, the speed of a ship or plane, course, turn bow angular velocity, target course point, cross track distance, ship
The captain of oceangoing ship mathematical model, the beam, drinking water, moldeed depth, displacement, Block Coefficient.
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| CN107618619A (en) * | 2017-09-15 | 2018-01-23 | 广船国际有限公司 | A kind of ship TCS automatic testing methods |
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| CN111812976A (en) * | 2020-06-06 | 2020-10-23 | 智慧航海(青岛)智能系统工程有限公司 | Ship thrust distribution system and thrust distribution 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 |
| CN112947445B (en) * | 2021-02-09 | 2024-02-02 | 大连海事大学 | Distributed self-adaptive ship track maintenance system adopting redundant communication |
| CN112711195B (en) * | 2021-03-29 | 2021-07-02 | 中船航海科技有限责任公司 | SIL ship automatic control simulation test platform and simulation test method |
| CN115629590A (en) * | 2022-08-31 | 2023-01-20 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Modularized ship motion control debugging system and ship motion control debugging method |
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