CN107092199A - Ship motion controller emulation platform and ship motion controller method - Google Patents
Ship motion controller emulation platform and ship motion controller method Download PDFInfo
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Abstract
The present invention discloses a kind of ship motion controller emulation platform, including control module, drive module, attitude measurement module, position determination module and power module, and drive module is used to control moving ahead and turning to for motion platform；Attitude measurement module and position determination module are respectively used to measure the posture and position data of motion platform；Control module is configured with Track In Track algorithm and deck motion model, control module carries out Track In Track calculating after the posture and positional information of motion platform are obtained from attitude measurement module and position determination module, then will desirably line-of-road movement, and deck motion of the naval vessel in wave can be simulated simultaneously by drive module according to result of calculation.Further, a kind of ship motion controller method is also disclosed.By the platform or method, the separated method for indirectly controlling of Heading control and flight tracking control, control parameter adjustment is simple, and Heading control algorithm and flight tracking control algorithm can be respectively modified.
Description
Technical field
The invention belongs to a kind of ship motion controller simulation technical field, more particularly to a kind of ship motion controller emulation is flat
Platform and ship motion controller method.
Background technology
The athletic meeting influence aircraft landing precision of naval vessel across the sea, can judge ship gesture by pattern-recognition,
So as to select suitable opportunity warship.In aircraft the research of warship, a ship motion simulation platform is essential.It is former
The design of type system and emulation with application value widely, can fast verification design system principle scheme.In order to
Examining Control System Design, whether whether reasonable, control algolithm is effectively, it is necessary to by multiple experiment waterborne.Experiment needs comprehensive every time
The exercise data of ship is closed, analysis and arrangement is then carried out, obtains the comprehensive eye exam of control performance, so as to compare control method
It is good and bad.So, emulation is the necessary method of ships motion control arithmetic.Generally there are following 3 kinds of emulation modes：Computer mould
Plan method, ship trial and half platform emulation in kind.
Computer simulation method cost is low, simplicity, is the most frequently used emulation mode at initial stage, and it has good interactivity,
Can preferably motion of the simulation of ship in wave, but the reliability of computer simulation method result with set up mathematical modulo
The levels of precision relation of type and simulated sea conditions is very big, therefore can only be used as the preliminary means for verifying various control methods.Ship trial
Reliability is high, but danger is big, cost is high, so general obtain computer simulation checking in control method, determining substantially can
Used after row.Compared with first two method, half platform emulation reliability in kind is higher and expense is low and safe, using wide
It is general, but the Simulation of ship motion platform that has had is less at present, and control algolithm is complicated, difficulty of parameter tuning, algorithm can
Transplantability is not high.
The content of the invention
To solve prior art problem, a kind of parameter adjustment of present invention proposition is simple, the ship that algorithm transplantability is strong, cost is low
Oceangoing ship motion control emulation platform and ship motion controller method.
Ship motion controller emulation platform disclosed by the invention includes control module, drive module, attitude measurement module, position
Determining module and power module are put, drive module is used to control moving ahead and turning to for motion platform；Attitude measurement module and position
Determining module is respectively used to measure the posture and position data of motion platform；Control module be configured with Track In Track algorithm (including
Heading control and flight tracking control) and deck motion model, control module obtains from attitude measurement module and position determination module
Track In Track calculating is carried out after the posture and positional information of motion platform, then will be according to by drive module according to result of calculation
Expect line-of-road movement, and deck motion of the naval vessel in wave can be simulated simultaneously；Power module supplies for each module of motion platform
Electricity；Wherein, attitude measurement module and position determination module pass through asynchronous serial communication interface and control module connection communication；Boat
Mark tracking, which is calculated, includes the tracking calculating in course and flight path.
Further, control module includes Heading control unit and flight tracking control unit, flight tracking control unit receiving position
The real time position data that determining module is sent, and compared with desired trajectory, then export desired course；Heading control unit connects
The real-time attitude data that the desired course and posture determining module of the output of flight tracking control unit are sent are received, calculates and exports expectation appearance
The control signal of state, then controls drive module to change the posture of motion platform.Specifically, Heading control unit, which is received, expects boat
To the real-time attitude data sent with posture determining module, the rudder angle control signal of output campaign platform after calculating, so as to control
The steering wheel of motion platform, which is turned to, drives rudder blade, changes motion platform gesture.
Further, Heading control uses anti-saturation PID control.
Further, flight tracking control uses sighting distance navigation method.
Further, attitude data interrupt routine built in control module and attitude data receive program, when there is attitude data
When being sent to control module, an interruption can be produced, attitude data interrupt routine is identified after the frame head of attitude data frame, will be complete
A whole frame data are saved in buffering area, when a frame data are received, can will receive flag bit set, wait program to be received to read
Access evidence；Attitude data receives program and reads the value for receiving flag bit first, determines that a frame data have intactly been stored in slow
Rush in area, then read data after verification is errorless；If wanting to update attitude data, attitude data is called to receive program i.e.
Can.
Further, control module embedded position data outage program and position data receive program, when there is position data
When being sent to control module, an interruption can be produced, position data interrupt routine stores data into buffering area, when a frame program
Receive, the reception program in control module can get data in corresponding variable；Position data receives program and read first
The value for receiving flag bit is taken, determines that a frame data are intactly stored in buffering area, is then read after verification is errorless
Data；If wanting more new location data, calling station data receiver program.
Further, control module uses MC9S12XS128MAA single-chip minimum systems.
Further, the angle of pitch, yaw angle, roll angle and the height of attitude measurement module output campaign platform.
Further, attitude measurement module can use miniAHRS gesture modules.
Further, position determination module uses WF-NEO-6M positioning chips.
Further, drive module uses single screw double rudder structure.
Further, drive module includes motor, power transmission shaft, propeller, remote control, steering wheel, pull bar and rudder blade, wherein,
Remote control, which is used for controlled motor, to be advanced, retreat, stops；Motor rotation drives propeller by power transmission shaft；The rotation of steering wheel rocking arm is logical
Cross pull bar and drive rudder blade.
Further, the software section in control module uses modularized design, and each module has single underlying programs, with
As long as ensureing individually to call the modular subroutine that functions of modules can be achieved in control process.
Further, the also built-in deck motion model of control module, carries out Sea wave Modeling by control module and obtains each
Class effective wave slope, corresponding motion transmission function is inputted by obtained effective wave slope respectively, and calculating obtains deck posture fortune
Dynamic function, further according to the attitude data of attitude measurement module feedback, is calculated, output control with reference to deck attitude motion function
Signal is to drive module, to control the posture of motion platform；Wherein, deck motion includes roll motion, elevating movement, sink-float fortune
Dynamic, effective wave slope includes roll effective wave slope, pitching effective wave slope, sink-float effective wave slope, and transmission function includes horizontal stroke
Rolling motion transmission function, elevating movement transmission function, plunging motion transmission function.
Invention additionally discloses a kind of ship motion controller method, Heading control and flight tracking control are separately controlled, first received
By the real time position data of ship, and compared with desired trajectory, desired course is then exported；Then the expectation boat of output is received
To the real-time attitude data with ship, the control signal for expecting posture is calculated and exported；Change ship further according to control signal
Athletic posture.
Further, Heading control uses anti-saturation pid control law.
Further, flight tracking control uses sighting distance navigation method.
Further, the ship includes control module, drive module, attitude measurement module, position determination module, drives mould
Block is used to control moving ahead and turning to for motion platform；Attitude measurement module and position determination module are respectively used to measure motion platform
Posture and position data；Control module includes Heading control unit and flight tracking control unit, by Heading control and flight tracking control
Separated indirect control, the real time position data that flight tracking control unit receiving position determining module is sent, and compared with desired trajectory
Compared with then exporting desired course；Heading control unit receives the desired course and posture determining module of flight tracking control unit output
The real-time attitude data of transmission, calculate and export the control signal for expecting posture, then control drive module to change the fortune of ship
Dynamic posture.
Beneficial effect：
(1) the separated method for indirectly controlling of Heading control and flight tracking control, control parameter adjustment is simple, and Heading control is calculated
Method and flight tracking control algorithm can be respectively modified.Wherein, Heading control uses anti-saturation PID control, debugging is convenient, it is to avoid because of product
The system divided device saturation and produced is out of control；Flight tracking control using sighting distance navigate method, independent of kinematics model, it is necessary to design
Parameter is few, and parameter tuning is easy, convergence is good.
(2) ship motion controller emulation platform (can include the tracking meter of course and flight path simultaneous with Track In Track algorithm
Calculate) and deck motion model, user can input motion track, ocean wave parameter, motion platform will desirably line-of-road movement, together
When deck motion of the simulation naval vessel in wave.
(3) drive module includes remote control, can the advance of remote manual control its motion platform, retrogressings, suspend, it is to avoid
In algorithm debugging process, the motion platform hardware damage out of control caused.
(4) software section of the invention uses modularized design, and each hardware module has single underlying programs, is controlling
Cheng Zhong, as long as calling the modular subroutine, you can realize functions of modules, program structure is clear, portable strong；Simultaneously can be with
Each module is debugged respectively, is facilitated misarrangement, chip is changed, so as to reduce the cost of emulation platform；Designer can also be according to demand
The algorithm of Heading control and the algorithm of flight tracking control are voluntarily replaced, secondary development is carried out, further expands the function of emulation platform.
Brief description of the drawings
Fig. 1 is the emulation platform hardware structure diagram in embodiment
Fig. 2 is the main program flow chart in embodiment
Fig. 3 is the attitude data interrupt routine flow chart in embodiment
Fig. 4 is that the attitude data in embodiment receives program flow diagram
Fig. 5 is the position data interrupt routine flow chart in embodiment
Fig. 6 is that the position data in embodiment receives program flow diagram
Fig. 7 is the Track In Track control algolithm block diagram in embodiment
Fig. 8 be embodiment in Heading control module in anti-saturation pid algorithm control block diagram
Fig. 9 is that desired track is geometrical model when from West to East in the Track In Track algorithm in embodiment
Figure 10 is that desired track is geometrical model from east orientation when western in the Track In Track algorithm in embodiment
Embodiment
As shown in figure 1, disclosing a kind of embodiment of ship motion controller emulation platform, ship motion controller emulation platform
That is " motion platform ", " platform " or " hull ", the platform includes power module, drive module, attitude measurement module, position determination
Module and control module, power module provide the power supply of each chip of motion platform and drive module；Drive module control motion is flat
The forward and steering of platform；Attitude measurement module and position determination module measure the posture and position data of motion platform；Control mould
Block is the core of this emulation platform, obtains the posture and positional information of motion platform, Track In Track calculating is then carried out, so as to control
The steering of rudder blade processed, reaches the effect of motion control.
Design is described with reference to specific embodiment and accompanying drawing：
Control module described in embodiment uses MC9S12XS128MAA single-chip minimum systems, and main program flow chart is as schemed
Shown in 2：The data that attitude measurement module and position determination module are sent are received within every 0.5 second, are calculated according to Track In Track algorithm
Rudder angle control signal, exported by way of PWM ripples makes it drive rudder blade deflection to steering wheel, so as to control the motion of motion platform
Track.
Attitude measurement module can use miniAHRS gesture modules, the module by STM32F103T8 (main control chip),
MPU6050 (acceleration transducer), HMC5883L (three axle geomagnetic sensors) and BMP180 (pressure-altitude sensor) compositions, can
Direct output transducer original measurement value, it is the angle of pitch of output campaign platform, inclined by being resolved to each measurement value sensor
Boat angle, roll angle and height.The attitude measurement module is communicated by asynchronous serial communication interface and control module.
When there is attitude data to be sent to control module, an interruption can be produced.Attitude data interrupt function flow chart is such as
Shown in Fig. 3：The procedure identification goes out after the frame head of attitude data frame, a complete frame data is saved in into buffering area, when a frame number
According to receiving, flag bit set (value of flag bit is assigned to 1) can will be received, wait program to be received to read data.Fig. 3
In, oxa5 and ox5a represent the frame head of data frame.
It is as shown in Figure 4 that attitude data receives program flow diagram：The program reads the value for receiving flag bit first, determines a frame
Data are intactly stored in buffering area, then read data after verification is errorless.In Fig. 4, A1 class data are to resolve
Attitude data afterwards, A2 classes are sensor raw measurement datas, and they are sent with two kinds of frames, so needing to parse respectively.
If it is intended to updating attitude data, calling attitude data to receive program can be (because posture receiver function be directly buffering area
Data are assigned to corresponding variable, call it can more new variables value).
Position determination module uses WF-NEO-6M positioning chips, is communicated by asynchronous serial communication interface and control module.
When there is position data (position data for representing longitude and latitude) to be sent to control module, an interruption can be produced.
Position data interrupt function flow chart is as shown in Figure 5：The program stores data into buffering area, when a frame program is received,
Reception program in control module can get data in corresponding variable.
Position data receives program flow diagram such as Fig. 6：The program reads the value for receiving flag bit first, determines a frame data
Intactly it is stored in buffering area, then reads data after verification is errorless.If it is intended to more new location data, is called
Position data reception program.
Power module includes two groups of 12V lithium battery, and they are in series by 3 piece of 18650 lithium battery, one group of protection
Plate current limliting 10A, is that drive module is individually powered；Another group of protection board current limliting 5A, powers to all chips and steering wheel.
Drive module uses single screw double rudder structure, including RS-550 high-speed electric expreess locomotives, power transmission shaft, propeller, remote control, rudder
Machine, pull bar and rudder blade；Wherein, motor rotation drives propeller by power transmission shaft；Remote control is connected between motor and power supply, can
Advanced by remote control control motor, retreated, stopped；The rotation of steering wheel rocking arm drives rudder blade by pull bar.
In embodiment, control module includes flight tracking control unit and Heading control unit, using Heading control and flight path
The separated method for indirectly controlling of control.Control algolithm block diagram such as Fig. 7：The reality that flight tracking control unit receiving position determining module is sent
When position data, and compared with desired trajectory, then export desired course；Heading control unit receives desired course and posture
The real-time attitude data that determining module is sent, export rudder angle control signal, so as to control steering wheel steering ribbon to move rudder blade, make after calculating
The posture of motion platform changes.
It is worth noting that, and in the prior art, mostly using directly controlling, control module reception posture and position simultaneously
Data are put, rudder angle control signal are exported after calculating, although can control more accurate, but parameter regulation is difficult.And it is our
Method is substantially unaffected using the relative separation that indirect control is Heading control and flight tracking control, control accuracy, but parameter is adjusted
Examination is simpler.
In embodiment, Heading control uses anti-saturation PID control, it is to avoid because of integrator caused by mechanical structure limitation
Supersaturation.
The control block diagram of anti-saturation pid algorithm is as shown in figure 8, wherein in Heading control module,
In formula, θdIt is desired course,It is actual heading, ν is the rudder angle control signal without amplitude limit, and u is represented after amplitude limit
Rudder angle control signal；In addition, in Fig. 8, t represents time, KpRepresent proportionality coefficient, KiRepresent integral coefficient, KdRepresent differential system
Number, KfRepresent anti-saturation feedback oscillator.
When the ν of output is too small, during u and ν difference (positive) is added into integration control, ν can be increased
Greatly；When the ν of output is excessive, u and ν difference (negative) is added to during integration control, integration control is now then reduced, makes
The ν of output diminishes；When output ν in the reasonable scope, then u is equal with ν, is equivalent to common PID control.
Flight tracking control is using sighting distance navigation method, independent of kinematics model, and parameter testing is simple, wherein：
When desired course is from West to East (such as Fig. 9), course angle calculation formula is as follows：
θ (t)=αk+arctan(e(t)/Δ)
When desired course is western from east orientation (such as Figure 10), course angle calculation formula is as follows：
θ (t)=αk-arctan(e(t)/Δ)+π
Fig. 9, Tu10Zhong：PkTo Pk+1It is desired course.P (t) is hull position, Pm(t) it is hull position to expectation
The subpoint in course line, Pd(t) it is virtual trace point, αkIt is desired course and the angle in the north, θ (t) is desired course, and e (t) is P
And P (t)mThe distance between (t) (that is, represent between motion platform position and its subpoint on desired course away from
From), Δ is PmAnd P (t)dThe distance between (t) (that is, represent subpoint of the motion platform position on desired course with it is empty
Intend the distance between trace point, be an adjustable parameter).
Wherein, αkCalculation formula is as follows：
αk=pi/2-arctan (yk+1-yk,xk+1-xk)
In formula：xkRepresent the longitude of desired trajectory starting point, ykRepresent the latitude of desired trajectory starting point；xk+1Represent desired trajectory
The longitude of target point；yk+1Represent the latitude of desired trajectory target point.
When desired course is from West to East (such as Fig. 9), e (t) calculation formula are as follows：
E (t)=(x (t)-xk)cosαk-(y(t)-yk)sinαk
When desired course is western from east orientation (such as Figure 10), e (t) calculation formula are as follows：
E (t)=(x (t)-xk+1)cosαk-(y(t)-yk+1)sinαk
In formula：X (t) represents the longitude of motion platform position；Y (t) represents the latitude of motion platform position.
, it is necessary to input expected path point during setting expected path, motion platform moves the broken line constituted along each dot sequency.
When motion platform navigated by water a broken line PkPk+1Afterwards, control program can automatically switch to expected path next broken line Pk+ 1Pk+2, routing update principle is as follows：
[x(t)-xk]2+[y(t)-yk]2≤R2
In formula：R represents the distance between hull position and targetpath point, is an adjustable parameter.
When expecting routing update, desired course is changed greatly, it may appear that step response, therefore adds one order inertia filter
Ripple, carrys out the desired course that smooth guiding algorithm is obtained.Smoothed course is：
θd(t)=α θ (t)+(1- α) θd(t-1)
In formula：θd(t) smoothed desired course is represented；α represents filter factor；θ (t) represents above-mentioned sighting distance navigation method
In the desired course that calculates；θd(t-1) last moment smoothed desired course is represented.
All operation programs can use c language to write inside control module described in embodiment, naturally it is also possible to adopt
Write with other Languages.
The software section of the present invention uses modularized design, and each hardware module has single underlying programs, in control process
In, as long as calling the modular subroutine, you can realize functions of modules, program structure is clear, convenient modification algorithm.If it is intended to imitative
Very other Track In Track algorithm, as long as modification Track In Track function (is used Heading control in control module in embodiment
The separated method for indirectly controlling with flight tracking control, can also use direct control method of the prior art), it is portable strong；Simultaneously
Each module can be debugged respectively, facilitated misarrangement, changed chip, it is cost-effective.
Main program structure figure is as shown in Fig. 2 every 0.5 second reading position data and attitude data, then by control algolithm
Calculating, export servos control signal, rudder blade is controlled with this.
Each modular subroutine is described below：
1. clock part：
void INIT_PLL(void)：Crystal oscillator frequency is 16MHz, and the function of this function is that bus frequency overclocking is arrived
32MHz。
2. GPS Section：
void INIT_SCI1(void)：Initialize serial ports；
unsigned char change(unsigned char*a)：The data type of GPS chip is character type, this
Character type is become corresponding numeral by function；
void Get_GPS(void)：Gps data is taken out from buffering area；
interrupt 21 void USART2_IRQHandler_GPS(void)：Gps data receives interrupt function；
unsigned char Sum_check_GPS(void)：Data check；
void UART2_CommandRoute_GPS(void)：The principal function that gps data is received, calls this function can
Update gps data.
3. miniAHRS parts：
void INIT_SCI0(void)：Initialize serial ports；
void UART2_Get_IMU(void)：Take attitude data；
void UART2_Get_Motion(void)：Take adc data (i.e. not decoded data)；
void interrupt 20USART2_IRQHandler(void)：Data receiver is interrupted；
unsigned char Sum_check(void)：Data check；
void UART2_CommandRoute(void)：The principal function that attitude data is received, calls renewable posture number
According to.
4. steering wheel part：
void init_pwm(void)：Pwm signal is initialized；
void rudder(void)：According to the helm signal of control module, steering wheel is set to deflect certain angle.
5. control module part：
float atand(float x)：Trigonometric function is redefined, using angle as unit computing；
void control(void)：Course, flight tracking control function.
6. PIT timing modules：
void init_PIT()：PIT module initializations；
interrupt 66void PIT_INTER(void)：The interrupt function called after being finished per timing.
For example, when needing to update the attitude data of motion platform, it is not necessary to the function for calling miniAHRS modules whole,
Only need to call this function of UART2_CommandRoute (), you can complete the renewal of attitude data；Likewise, needing more
During new location data, also only need to call UART2_CommandRoute_GPS ().
The sea situation simulation ship deck motion that the present invention can also be specified according to user, including it is roll motion, elevating movement, heavy
Transportation by driving is moved.The deck motion modeling is as follows：
Ocean wave motion result in ship deck motion, therefore to simulate deck motion and must first carry out Sea wave Modeling.
(1) Sea wave Modeling
Using long crested waves Wave Model, long crested waves random seaway can be regarded as by countless frequencies are different, amplitude is different, just
The different cosine wave of phase is formed by stacking, and does not consider higher hamonic wave, and when studying certain fixing point Wave Model, harmonic amplitude ξ can
Represented with following formula：
In formula：T represents time, ξiRepresent the amplitude of i-th of harmonic wave；ωiRepresent the angular frequency of i-th of harmonic wave；εiRepresent the
The initial phase angle (being uniformly distributed at random in 0~π) of i harmonic wave.
It is the energy value that can obtain respective frequencies harmonic wave ocean wave spectrum discretization, the ocean wave spectrum uses the mono- ginsengs of ITTC
Number spectrum, harmonic energy value SξEmpirical representation it is as follows：
In formula：ω represents wave frequencies；G represents acceleration of gravity；h1/3Indicate adopted wave height.
Harmonic energy value and the relation of harmonic amplitude are as follows：
In formula：ωiRepresent harmonic frequency；Sξ(ωi) represent harmonic energy value；ξiRepresent harmonic amplitude.
Thus the amplitude of correspondence harmonic wave can be calculated.
The calculating of effective wave slope, including roll effective wave slope αφe, pitching effective wave slope αθe, sink-float significant wave incline
Angle ξze, its calculation formula is as follows：
In formula：β represents wave encounter angle；ωeiRepresent that naval vessel meets with frequency,V is the speed of a ship or plane；XφRepresent
Roll effective wave slope correction factor；XθRepresent pitching effective wave slope correction factor；XzRepresent sink-float effective wave slope amendment system
Number.
(2) deck motion is modeled
Including roll motion transmission function, elevating movement transmission function, plunging motion transmission function, above-mentioned significant wave is inclined
Angle is inputted as system, by the calculating of transmission function, and gained output is deck attitude motion function.
Wherein, effective wave slope is above-mentioned and time correlation formula, carries out after pull-type conversion, becomes the formula with s, s
Automation the inside represents that transmission function is used, and carries out that after pull-type inverse transformation the function with time correlation can be become.Will be effective
Slope of wave surface is as the input of transmission function, and two formulas, which are multiplied, can obtain the deck attitude motion function with s, then carry out pull-type contravariant
Change, just obtain the function of attitude angle and time correlation.Deck motion posture function is the letter that changes over time of attitude angle on deck
Number.The transmission function is as follows：
1. roll motion transmission function：
In formula：ωφThe roll natural angular frequency on naval vessel is represented,JφRepresent roll rotary inertia；ΔJφ
Represent roll additional rotation inertia；D represents naval vessel displacement mass；H represents that transverse metacenter is high；ζφRoll damping factor is represented,
It is relevant with the self-characteristic of ship.
2. elevating movement transmission function
In formula：ωθRepresent the pitching natural angular frequency on naval vessel；JθRepresent pitch rotation inertia；ΔJθ
Represent pitching additional rotation inertia；ζθThe damping in pitch factor is represented, it is relevant with the self-characteristic of ship.
3. plunging motion transmission function
In formula：ωzNaval vessel sink-float intrinsic frequency is represented,λzRepresent sink-float additional mass；ρ represents sea
Water density；SwRepresent naval vessel water plane area；ζzRepresent sink-float damping factor.
Although embodiment of the present invention is described above in association with accompanying drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment is only schematical, guiding, rather than restricted
's.One of ordinary skill in the art is not departing from the scope that the claims in the present invention are protected under the enlightenment of this specification
In the case of, the form of many kinds can also be made, these belong to the row of protection of the invention.
Claims (10)
1. a kind of ship motion controller emulation platform, it is characterised in that including control module, drive module, attitude measurement module,
Position determination module and power module,
Drive module is used to control moving ahead and turning to for motion platform；
Attitude measurement module and position determination module are respectively used to measure the posture and position data of motion platform；
Control module is carried out after the posture and positional information of motion platform are obtained from attitude measurement module and position determination module
Track In Track is calculated, and then realizes motion control by drive module according to result of calculation；
Power module is each module for power supply of motion platform；
Wherein, attitude measurement module and position determination module pass through asynchronous serial communication interface and control module connection communication；
Control module includes Heading control unit and flight tracking control unit, what flight tracking control unit receiving position determining module was sent
Real time position data, and compared with desired trajectory, then export desired course；Heading control unit receives flight tracking control unit
The real-time attitude data that the desired course and posture determining module of output are sent, calculate and export the control signal for expecting posture,
Then control drive module changes the posture of motion platform；
Track In Track, which is calculated, includes the tracking calculating in course and flight path.
2. ship motion controller emulation platform according to claim 1, it is characterised in that：Heading control uses anti-saturation
Pid control law.
3. ship motion controller emulation platform according to claim 1, it is characterised in that：Flight tracking control is navigated using sighting distance
Method.
4. ship motion controller emulation platform according to claim 1, it is characterised in that：Attitude data built in control module
Interrupt routine and attitude data receive program, when there is attitude data to be sent to control module, can produce an interruption, posture number
After the frame head for identifying attitude data frame according to interrupt routine, treat a complete frame data being saved in buffering area, when a frame data
Receive, can will receive flag bit set, wait program to be received to read data；Attitude data receives program and reads reception first
The value of flag bit, determines that a frame data are intactly stored in buffering area, then reads data after verification is errorless；If
Want to update attitude data, call attitude data reception program；Control module embedded position data outage program and position
Data receiver program, when there is position data to be sent to control module, can produce an interruption, and position data interrupt routine is by number
According to buffering area is saved in, when a frame program is received, the reception program in control module can get data corresponding variable
In；Position data receives program and reads the value for receiving flag bit first, determines that a frame data are intactly stored in buffering area
It is interior, then read data after verification is errorless；If wanting more new location data, calling station data receiver program.
5. ship motion controller emulation platform according to claim 1, it is characterised in that：Attitude measurement module is used
MiniAHRS gesture modules, the angle of pitch, yaw angle, roll angle and the height of attitude measurement module output campaign platform；Position is true
Cover half block uses WF-NEO-6M positioning chips.
6. ship motion controller emulation platform according to claim 1, it is characterised in that：The drive module uses single-blade
Twin Rudders structure.
7. ship motion controller emulation platform according to claim 6, it is characterised in that：Drive module includes motor, passed
Moving axis, propeller, remote control, steering wheel, pull bar and rudder blade, wherein, remote control, which is used for controlled motor, to be advanced, retreat, stops；Motor
Rotation drives propeller by power transmission shaft；The rotation of steering wheel rocking arm drives rudder blade by pull bar.
8. ship motion controller emulation platform according to claim 1, it is characterised in that：Software section in control module
Using modularized design, each module has single underlying programs, as long as to ensure individually to call module in control process
Program is that functions of modules can be achieved.
9. ship motion controller emulation platform according to claim 1, it is characterised in that：The also built-in deck fortune of control module
Movable model, carries out Sea wave Modeling by control module and obtains all kinds of effective wave slopes, and obtained effective wave slope is distinguished into defeated
Enter corresponding motion transmission function, calculating obtains deck attitude motion function, further according to the posture number of attitude measurement module feedback
According to being calculated with reference to deck attitude motion function, output control signal is to drive module, to control the posture of motion platform；
Wherein, deck motion include roll motion, elevating movement, plunging motion, effective wave slope include roll effective wave slope,
Pitching effective wave slope, sink-float effective wave slope, transmission function include roll motion transmission function, elevating movement transmission function,
Plunging motion transmission function.
10. a kind of ship motion controller method, it is characterised in that Heading control and flight tracking control are separately controlled, first receive by
The real time position data of ship, and compared with desired trajectory, then export desired course；Then the desired course of output is received
With the real-time attitude data of ship, the control signal for expecting posture is calculated and exported；Change the fortune of ship further according to control signal
Dynamic posture.
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