CN106681339A - Method for simulating ship attitude signal - Google Patents
Method for simulating ship attitude signal Download PDFInfo
- Publication number
- CN106681339A CN106681339A CN201510768003.4A CN201510768003A CN106681339A CN 106681339 A CN106681339 A CN 106681339A CN 201510768003 A CN201510768003 A CN 201510768003A CN 106681339 A CN106681339 A CN 106681339A
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- ship
- information
- attitude
- rolling
- embedded computer
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims abstract description 30
- 238000004088 simulation Methods 0.000 claims abstract description 21
- 230000005284 excitation Effects 0.000 claims description 4
- 239000012467 final product Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 6
- 238000012795 verification Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000002964 excitative effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for simulating a ship attitude signal. The method is characterized in that the method includes the following steps: 1. inputting attitude requirements to an embedded computer which analyzes the attitude requirements, and respectively obtaining simulation information of continuous data about rolling, pitching, navigation direction and navigation speed, the embedded computer transmitting the obtained simulation information about the rolling, pitching, navigation direction and navigation speed to an on-site programmable device-FPGA through 4 channels; 2.the embedded computer synchronously outputting continuous digit attitude information through the RS485 interface; if a servo system of a to-be-tested weapon device requires to input digit attitude information, connecting the RS485 interface with an information input port of the servo system of the to-be-tested weapon device, thus achieving the simulation of a ship platform gyro system. According to the invention, the method can provide a complete ship attitude simulation signal, achieves detection of ship-purpose devices on land, so that the experiments on the ship-purpose devices need not to be carried out on a ship, and a great deal of time, money and manpower are saved.
Description
Technical field
The present invention is a kind of analogy method of attitude of ship signal, is particularly equipped in land for ship ordnance
On measurement.
Background technology
The platform compass system of ship is a set of high-precision SINS, and for ship ship is provided
Attitude information, including rolling, pitching, course and navigational speed information.In apparel development, production, debugging
In process of the test, or in the state of ship is not navigated by water, it usually needs it is a set of can analog platform compass output
Signal, is that the debugging under being equipped in laboratory or surface condition and verification experimental verification provide corresponding means.At present
Generally using the method for software simplation verification, there is no and be capable of the platform compass system of full simulation ship and carry
For attitude of ship signal, the analogy method of holonomic system checking test is carried out.
The content of the invention
The purpose of the present invention is a kind of attitude of ship signal imitation method of invention, can simulate ship platform compass
System, output ship pitching, rolling, course, speed of a ship or plane signal, provides in laboratory for ship weaponry
Or ground and under conditions of ship is not navigated by water, carry out debugging and verification experimental verification provides corresponding means.
A kind of analogy method of attitude of ship signal, it is characterised in that comprise the following steps：
Step one：Gesture is input into embedded computer, embedded computer carries out Gesture point
Solution, draws respectively rolling, pitching, course, speed of a ship or plane continuous data analog information, and embedded computer will
Rolling, pitching, course, four channel transfers of speed of a ship or plane analog information point for drawing are to field programmable device
—FPGA；
Step 2：Embedded computer synchronously exports continuous number attitude information by RS485 interfaces；Such as
The servo-drive system of weaponry to be measured need to be input into digital attitude information, by RS485 interfaces and the weapon to be measured
The information input port connection of the servo-drive system of equipment, that is, obtain the simulation of ship platform compass system；
Servo-drive system such as weaponry to be measured needs input simulation attitude information, proceeds to step 3；
Step 3：The output pin of FPGA is divided into 4 groups, a digital selsyn is connected to per group and is turned
On parallel operation-DSC；Each DSC is connected with excitation power supply；FPGA is according to the renewal of 30-200 times/seconds
Frequency reception to after the rolling of embedded computer, the Wave data of pitch channel and course, speed of a ship or plane data,
While pass through the level height of control tetra- groups of pins of FPGA, so as to controlling the required rolling of DSC outputs, indulging
Shake, course, navigational speed information；The rolling of the continuous exporting changes of continually varying level signal control DSC,
Pitching, course, navigational speed information, by the rolling of the continuous exporting changes of DSC, pitching, course, the speed of a ship or plane
Simulation attitude information is successively inputted to the servo-drive system of weaponry to be measured, that is, obtain ship platform compass system
Simulation.
Beneficial effect
The present invention can provide complete attitude of ship analog signal, realize the inspection on land to shipborne equipment
Survey, make many shipborne equipments to go on board and tested, save plenty of time, fund and manpower.
The present invention is had been applied in actual items, is realized and is shaken test in length and breadth with the laboratory of radar.This
The bright abundant checking for having been completed land united test, its invention possesses ship platform compass (ship appearance
State) whole fan-out capabilities, complete ship can be provided for various equipment Tests such as shipborne radar, sonar, photoelectricity
Oceangoing ship attitude-simulating signal, the debugging and test checking for equipment provides effective means, can be widely used in
AA ships or equipment scientific research, production, repairing unit.
Description of the drawings
Fig. 1, for signal transmission route map of the present invention；
Fig. 2, for information generating process figure of the present invention.
Specific embodiment
A kind of analogy method of attitude of ship signal, it is characterised in that comprise the following steps：
Step one：Gesture is input into embedded computer, embedded computer carries out Gesture point
Solution, draws respectively rolling, pitching, course, speed of a ship or plane continuous data analog information, and embedded computer will
Rolling, pitching, course, four channel transfers of speed of a ship or plane analog information point for drawing are to field programmable device
—FPGA；
Step 2：Embedded computer synchronously exports continuous number attitude information by RS485 interfaces；Such as
The servo-drive system of weaponry to be measured need to be input into digital attitude information, by RS485 interfaces and the weapon to be measured
The information input port connection of the servo-drive system of equipment, that is, obtain the simulation of ship platform compass system；
Servo-drive system such as weaponry to be measured needs input simulation attitude information, proceeds to step 3；
Step 3：The output pin of FPGA is divided into 4 groups, a digital selsyn is connected to per group and is turned
On parallel operation-DSC；Each DSC is connected with excitation power supply；FPGA is according to the renewal of 30-200 times/seconds
Frequency reception to after the rolling of embedded computer, the Wave data of pitch channel and course, speed of a ship or plane data,
While pass through the level height of control tetra- groups of pins of FPGA, so as to controlling the required rolling of DSC outputs, indulging
Shake, course, navigational speed information；The rolling of the continuous exporting changes of continually varying level signal control DSC,
Pitching, course, navigational speed information, by the rolling of the continuous exporting changes of DSC, pitching, course, the speed of a ship or plane
Simulation attitude information is successively inputted to the servo-drive system of weaponry to be measured, that is, obtain ship platform compass system
Simulation.
Embedded computer is connected by Ethernet or RS232 with host computer, receives the control from host computer
Instruction, after parsing, by high-speed interface, real-time control FPGA output DSC control signals.
The real-time control signal of embedded computer is converted to digital I/O signal by FPGA, pitching is controlled respectively and is sent out
Send unit, rolling transmitting element, course transmitting element, speed of a ship or plane cells D SC output analog angle information, FPGA
Also exportable speed of a ship or plane pulse signal.
Attitude of ship analog and digital signal is exported by embedded computer RS485, and communication protocol may be programmed.
Excitation power supply be AA marine navigation standards, signal/excitatory：90V/115V, frequency 400Hz is DSC
Module provides excited signal.
Pitching transmitting element, rolling transmitting element and course transmitting element adopt single channel/coarse-fine binary channels two
Design of operating modes is planted, all ship equipment attitude-simulating demand signals are disclosure satisfy that.
The key point of the present invention
The key point one of the present invention is can be while realize the ship appearance such as ship pitching, rolling, course and speed of a ship or plane
The simulation of state signal imitation.
The key point two of invention is pitching transmitting element, rolling transmitting element and course transmitting element using single
Passage/two kinds of coarse-fine binary channels design of operating modes, PLC technology.
The present invention key point three be export analog signal while, can synchronism output identical numeral attitude
Analog signal.
Technical scheme
The present invention adopts embedded computer, field programmable gate function for control core, using solid-state DSC
(numeral/synchronous machine conversion) module sends analog signal, can as needed emulate step, sine, be incremented by etc.
Multi-motion attitude, signal source interface is various, substantially covers the interface shape of active service ship boat-carrying electronic equipment
Formula.
According to AA marine navigation standards, attitude of ship characteristics of signals typically adopts selsyn, signal/excitatory：
90V/115V, frequency 400Hz.
DSC axes-angle conversion modules are the ideal interface circuits that computer and control system are changed.So-called DSC,
That is Digital Synchro Converte, the emulation that easily can be formed in computer using DSC module
Digital attitude signal is converted to simulation selsyn signal, realizes the copying of attitude of ship signal.
As shown in Fig. 2 host computer passes through RS232 or Ethernet by the attitude of ship of required simulation (including horizontal stroke
Shake, the angle of pitching and cycle, course and the speed of a ship or plane) require information transmitted into embedded computer.
Embedded computer to be input into Gesture decompose, draw respectively rolling, pitching, course,
Speed of a ship or plane requirement, according still further to the requirement of each passage, according to the sample rate of 100 times/second, calculates respectively horizontal stroke
Shake, the Wave data of pitch channel and course, speed of a ship or plane data, and by high-speed bus, by above-mentioned attitude
Information is continuously transmitted to field programmable device (FPGA).Embedded computer passes through RS485 interfaces, together
Step output continuous number attitude information.
The output pin of FPGA is divided into 4 groups, set of number/selsyn converter is connected to per group
(DSC).FPGA receives the rolling of embedded computer, the Wave data of pitch channel and course, boat
After fast data, according to the renewal frequency of 100 times/second, while the level height of tetra- groups of pins of FPGA is controlled,
Rolling, pitching, course, navigational speed information needed for so as to control DSC outputs.Continually varying level is believed
Rolling, pitching, course, the navigational speed information of number control continuous exporting changes of DSC, realizes ship platform sieve
The simulation of Jing systems.
Present invention employs high precise shaft-angle switch technology and realize that arbitrarily speed is than (1：K double-channel data) point
From with combine, with miniaturization solid-state digital-to-analogue and modulus device realize high accuracy, highly reliable conversion.
Claims (1)
1. a kind of analogy method of attitude of ship signal, it is characterised in that comprise the following steps：
Step one：Gesture is input into embedded computer, embedded computer carries out Gesture
Decompose, rolling, pitching, course, speed of a ship or plane continuous data analog information, embedded computer are drawn respectively
By the rolling for drawing, pitching, course, four channel transfers of speed of a ship or plane analog information point to field-programmable device
Part-FPGA；
Step 2：Embedded computer synchronously exports continuous number attitude information by RS485 interfaces；Such as
The servo-drive system of weaponry to be measured need to be input into digital attitude information, by RS485 interfaces and the weapon to be measured
The information input port connection of the servo-drive system of equipment, that is, obtain the simulation of ship platform compass system；
Servo-drive system such as weaponry to be measured needs input simulation attitude information, proceeds to step 3；
Step 3：The output pin of FPGA is divided into 4 groups, a digital selsyn is connected to per group
On converter-DSC；Each DSC is connected with excitation power supply；FPGA is according to 30-200 times/seconds
Renewal frequency receive the rolling of embedded computer, the Wave data of pitch channel and course, the speed of a ship or plane
After data, while the level height by controlling tetra- groups of pins of FPGA, so as to control DSC outputs institute
Rolling, pitching, course, the navigational speed information for needing；Control DSC is continuously defeated for continually varying level signal
Go out rolling, pitching, course, the navigational speed information of change, by the rolling of the continuous exporting changes of DSC, indulge
Shake, course, the simulation attitude information of the speed of a ship or plane are successively inputted to the servo-drive system of weaponry to be measured, obtain final product
To the simulation of ship platform compass system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510768003.4A CN106681339A (en) | 2015-11-11 | 2015-11-11 | Method for simulating ship attitude signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510768003.4A CN106681339A (en) | 2015-11-11 | 2015-11-11 | Method for simulating ship attitude signal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106681339A true CN106681339A (en) | 2017-05-17 |
Family
ID=58865489
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| CN201510768003.4A Pending CN106681339A (en) | 2015-11-11 | 2015-11-11 | Method for simulating ship attitude signal |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739253A (en) * | 2019-01-28 | 2019-05-10 | 深圳市道通智能航空技术有限公司 | A kind of aircraft battery monitoring method, device, battery and aircraft |
| CN111061262A (en) * | 2019-11-19 | 2020-04-24 | 中国船舶重工集团公司第七0七研究所九江分部 | Course control method for reducing invalid steering |
| CN111538347A (en) * | 2020-06-24 | 2020-08-14 | 中国人民解放军海军工程大学 | Marine attitude simulation test equipment and automatic adjusting method |
| CN112615768A (en) * | 2020-12-09 | 2021-04-06 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN112857399A (en) * | 2021-01-22 | 2021-05-28 | 上海机电工程研究所 | Portable ship integrated navigation simulation system, method and medium for armed control system |
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| US4067007A (en) * | 1976-01-05 | 1978-01-03 | Raytheon Company | Adaptive compass drive system |
| US4768153A (en) * | 1984-08-30 | 1988-08-30 | Furuno Electric Company, Limited | Automatic pilot system |
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| US4768153A (en) * | 1984-08-30 | 1988-08-30 | Furuno Electric Company, Limited | Automatic pilot system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739253A (en) * | 2019-01-28 | 2019-05-10 | 深圳市道通智能航空技术有限公司 | A kind of aircraft battery monitoring method, device, battery and aircraft |
| CN111061262A (en) * | 2019-11-19 | 2020-04-24 | 中国船舶重工集团公司第七0七研究所九江分部 | Course control method for reducing invalid steering |
| CN111061262B (en) * | 2019-11-19 | 2023-06-06 | 中国船舶重工集团公司第七0七研究所九江分部 | Course control method for reducing invalid steering |
| CN111538347A (en) * | 2020-06-24 | 2020-08-14 | 中国人民解放军海军工程大学 | Marine attitude simulation test equipment and automatic adjusting method |
| CN112615768A (en) * | 2020-12-09 | 2021-04-06 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN112615768B (en) * | 2020-12-09 | 2022-02-11 | 中船航海科技有限责任公司 | Multi-signal-source electromechanical angle sending device |
| CN112857399A (en) * | 2021-01-22 | 2021-05-28 | 上海机电工程研究所 | Portable ship integrated navigation simulation system, method and medium for armed control system |
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