CN108762184A - Ship course and flight path keep remote trial system and method - Google Patents
Ship course and flight path keep remote trial system and method Download PDFInfo
- Publication number
- CN108762184A CN108762184A CN201810466113.9A CN201810466113A CN108762184A CN 108762184 A CN108762184 A CN 108762184A CN 201810466113 A CN201810466113 A CN 201810466113A CN 108762184 A CN108762184 A CN 108762184A
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- China
- Prior art keywords
- ship
- course
- ship model
- data
- flight path
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1105—I-O
Abstract
A kind of ship course of present invention offer and flight path keep remote trial system and method, and the system comprises ship model, wind speed and direction sensory perceptual system, data acquisition and conveyer system, data receiver and processing system and Terminal Server Clients；The ship or ship model are from navigating ship or ship model.Ship course and flight path provided by the invention keep remote trial system and method, can be to want to do course in ship stormy waves the individual of remote trial or unit is kept to carry out remote service, reduce the unnecessary cost of user；During experiment, test data, image, video are real-time transmitted to client, and user can not only see experiment process, more can guarantee the real-time and accuracy of test data；It is also possible to apply the invention to fields such as video teaching, scientific researches, audient face is wider.
Description
Technical field
The present invention relates to a kind of ship courses and flight path to keep remote trial system and method, belongs to ship test technology neck
Domain.
Background technology
In common sea transport, ship is mostly some way points by setting, control of the ship in manual steering
It moves ahead along corresponding way point under system, is finally reached destination.In order to mitigate the workload of driver, reduce because of maloperation
Etc. marine incident caused by reasons, it is necessary to ship carries out course automatically and flight path is kept.When ship rides the sea often
By external interferences such as wind, wave, ocean currents, these interference inevitably result from the deviation of course and flight path.This is just
It is required that ship can automatically frequently get corresponding rudder angle so that ship's navigation is on desired trajectory.Therefore ship or ship model
It is required for carrying out course and flight path keeps experiment.
Special test facilities and equipment and the instrument for carrying out the experiment are more, including inland waters, free sailing model ship, kernel
Controller, wind speed wind direction sensor, DGPS Differential Global Positioning System, three-dimensional electronic compass etc..Traditional ship or ship model
Course and flight path keep experiment that related personnel is needed to go nearby to find waters or some units are gone to rent experimental tank, it is also necessary to
Special testing crew is operated at the scene, and finally the data acquired on ship model are handled and analyzed.Its whole cycle
It is long, it expends greatly, audient face is small.
Invention content
It is an object of the invention to overcome spot ship course and flight path to keep, the test period is long, consuming is big, audient face is small
The shortcomings of, a kind of ship course is provided and flight path keeps remote trial system and method, uses DGPS and high-precision three-dimensional electronics
For compass to obtain ship or ship model position and posture information, satellite-signal, laboratory utilization can not be received by solving in laboratory
The low problem of rate, the collected data of experiment institute and image can be transmitted to user interface, greatly alleviate user's in real time
Workload.
In order to achieve the above objectives, technical solution is as follows used by the present invention solves the above problems：
A kind of ship course and flight path keep remote trial system, including the acquisition of ship model, wind speed and direction sensory perceptual system, data
And conveyer system, data receiver and processing system and Terminal Server Client；The ship or ship model are from navigating ship or ship model；
The ship model is to have from navigation ship model and concentrate controllable manipulation and propulsion system, the manipulation and propulsion system
It is controlled by institute including motor, by the motor-driven propeller, rudder, steering engine and programmable automation controller PAC, the rudder
Steering engine, the motor and the steering engine is stated to connect and be controlled by it with the programmable automation controller PAC；
The wind speed and direction sensory perceptual system includes the air velocity transducer and wind transducer being mounted on the ship model；
Data acquisition and conveyer system include the course being installed on the ship model and track data acquisition module with
And plan-position, the level of the real-time delivery module of data, the course and track data acquisition module for acquiring the ship model
Speed, bow to angle, velocity of rotation, sway speed, rudder angle and come about speed and propeller rotating speed and its change rate；
The data receiver and processing system include number biography and figure transmitting/receiving apparatus；
The Terminal Server Client includes networking bank machine；
Collected data transmission is acquired and is transmitted to the data by the air velocity transducer and the wind transducer
System, data acquisition and conveyer system by the real-time delivery module of the data transfer data to the data receiver and
The networking bank machine of processing system, the data receiver and processing system and the Terminal Server Client by network connection, and
Give the data transfer received to the networking bank machine.
Further, the course and track data acquisition module include Differential Global Positioning System DGPS, three-dimensional electronic sieve
Disk and attitude measurement instrument MTI, the real-time delivery module of data includes data radio station, the Differential Global Positioning System DGPS,
The three-dimensional electronic compass, the attitude measurement instrument MTI and the data radio station with the programmable automation controller PAC
Connection.
Further, the number passes and figure transmitting/receiving apparatus is bank base data radio station.
Further, the Terminal Server Client includes the first networking bank machine and the second networking bank machine, the second networking bank machine
On remote control software is installed, the first networking bank machine is connect with the bank machine data radio station.
Further, wireless wifi cameras are also equipped on the ship model, the wireless wifi cameras directly enter described
Second networking bank machine is wirelessly connected.
The present invention also provides above-mentioned ship courses and flight path to keep the test method of remote trial system, including walks as follows
Suddenly：
All devices are mounted on pond bank on the ship model, then the ship model are put into pond by the first step,
Adjustment floading condition makes it top-up；
Second step：According to test requirements document, ship model course information in pond is designed, control makes the ship model start；
Third walks：The course and track data acquisition mould acquire the data of the ship model, wherein the difference global is fixed
Position system DGPS records the position coordinates (x, y) of the ship model in real time, the three-dimensional electronic compass record the bow of the ship model to
The experimental design course ɑ of angle θ and the ship model, by can be calculated the actual course deviation β=ɑ-θ of the model plane, the boat
The actual course-line deviation L=y*sin α-x*cos α of mould；
4th step：The programmable automation controller PAC of the ship model passes through the course deviation that calculates
β, the course-line deviation L and the control rule set independently obtain the corner δ for the steering engine that needs control and the electricity
The rotating speed v of machine finally makes the ship model be navigated by water along the flight path of planning；
5th step, during entire experiment, the air velocity transducer, the wind transducer and the attitude measurement instrument
MTI records the athletic posture information of wind speed and direction and the ship model in real time, and by the described programmable automatic of the ship model
Change controller PAC acquisitions, is sent on the networking bank machine by the data radio station.
Compared with prior art, technical scheme of the present invention has the following advantages：
Ship course and flight path provided by the invention keep remote trial system and method, can be to want to do in ship stormy waves
Course keeps the individual of remote trial or unit to carry out remote service, reduces the unnecessary cost of user；In the process of experiment
In, test data, image, video are real-time transmitted to client, and user can not only see experiment process, more can guarantee test data
Real-time and accuracy；It is also possible to apply the invention to fields such as video teaching, scientific researches, audient face is wider.
Description of the drawings
Fig. 1 is ship model water-area navigation schematic diagram in the embodiment of the present invention；
Fig. 2 is the structure of ship model and equipment arrangement schematic diagram in the embodiment of the present invention；
Fig. 3 is data and image delivering system schematic diagram in the embodiment of the present invention；
In figure：1 for point global positioning system DGPS, 2 be three-dimensional electronic compass, 3 be attitude measurement instrument MTI, 4 be number conduct electricity
Platform, 5 be wind transducer, 6 be motor, 7 be propeller, 8 be rudder, 9 be steering engine, 10 be air velocity transducer, 11 be it is programmable from
Dynamicization controller PAC, 12 be wireless wifi cameras, 13 be bank base data radio station, 14 be the first networking bank machine, 15 be remotely to control
Software processed, 16 are the second networking bank machine.
Specific implementation mode
To make the above purposes, features and advantages of the invention more obvious and understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and direction term) there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.
As shown in Figure 1 to Figure 3, it is a kind of ship course of the present invention and flight path keeps remote trial system, including ship model,
Wind speed and direction sensory perceptual system, data acquisition and conveyer system, data receiver and processing system and Terminal Server Client；The ship
Or ship model is from navigating ship or ship model；
The ship model is to have from navigation ship model and concentrate controllable manipulation and propulsion system, the manipulation and propulsion system
Propeller 7, rudder 8, steering engine 9 and the programmable automation controller PAC11 driven including motor 6, by the motor 6, the rudder 8
It is controlled by the steering engine 9, the motor 6 and the steering engine 9 to connect with the programmable automation controller PAC11 and controlled by it
System；
The wind speed and direction sensory perceptual system includes the air velocity transducer 10 being mounted on the ship model and wind transducer 5；
Data acquisition and conveyer system include the course being installed on the ship model and track data acquisition module with
And plan-position, the level of the real-time delivery module of data, the course and track data acquisition module for acquiring the ship model
Speed, bow to angle, velocity of rotation, sway speed, rudder angle and come about speed and propeller rotating speed and its change rate；
The data receiver and processing system include number biography and figure transmitting/receiving apparatus；
The Terminal Server Client includes networking bank machine；
Collected data transmission is acquired and is passed to the data by the air velocity transducer 10 and the wind transducer 5
System, the data acquisition and conveyer system is sent to transfer data to the data receiver by the real-time delivery module of the data
And processing system, the networking bank machine of the data receiver and processing system and the Terminal Server Client by network connection,
And give the data transfer received to the networking bank machine.
The course and track data acquisition module include Differential Global Positioning System DGPS1, three-dimensional electronic compass 2 and appearance
State measuring instrument MTI3, the real-time delivery module of data includes data radio station 4, the Differential Global Positioning System DGPS1, described
Three-dimensional electronic compass 2, the attitude measurement instrument MTI3 and the data radio station 4 with the programmable automation controller
PAC11 connections.
The number passes and figure transmitting/receiving apparatus is bank base data radio station 13.
The Terminal Server Client includes the first networking bank machine 14 and the second networking bank machine 16, and described second networks on bank machine 16
Remote control software 15 is installed, the first networking bank machine 14 is connect with the bank machine data radio station 13.
Wireless wifi cameras 12 are also equipped on the ship model, the wireless wifi cameras 12 directly enter described second
Bank machine 16 of networking is wirelessly connected.
A kind of ship course and flight path of the present invention keep the test method of remote trial system, comprise the concrete steps that：
All devices are mounted on pond bank on the ship model, then the ship model are put into pond by the first step,
Adjustment floading condition makes it top-up；
Second step：According to test requirements document, ship model course information in pond is designed, control makes the ship model start；
Third walks：The course and track data acquisition mould acquire the data of the ship model, wherein the difference global is fixed
Position system DGPS1 records the position coordinates (x, y) of the ship model in real time, and the three-dimensional electronic compass 2 records the bow of the ship model
It is described by can be calculated the model plane actual course deviation β=ɑ-θ to the experimental design course ɑ of angle θ and the ship model
The actual course-line deviation L=y*sin α-x*cos α of model plane；
4th step：The programmable automation controller PAC11 of the ship model is inclined by the course calculated
Poor β, the course-line deviation L and the control rule set independently obtain the corner δ of the steering engine 9 that needs control and described
The rotating speed v of motor 6 finally makes the ship model be navigated by water along the flight path of planning；
5th step, during entire experiment, the air velocity transducer 10, the wind transducer 5 and the attitude measurement
Instrument MTI3 records the athletic posture information of wind speed and direction and the ship model in real time, and may be programmed certainly by the described of the ship model
The PAC11 acquisitions of dynamicization controller, are sent to by the data radio station 4 on the networking bank machine.
In the 4th step：It is defeated that the programmable automation controller PAC11, which can choose course deviation β, course-line deviation L,
Enter amount, works out the control program based on fuzzy control rule table A.Wherein, the domain of β is taken as [- 180,180], and unit is degree, son
Collection be { NB, NM, NS, 0, PS, PM, PB } (respectively represent it is negative big, negative in, it is negative it is small, zero, it is just small, center, honest, it is same as below).
L domains are taken as [- ∞ ,+∞], and subset is { NB, NM, NS, 0, PS, PM, PB }.The domain of δ is taken as [- 40,40], subset be NB,
NM, NS, 0, PS, PM, PB }.The domain of v is taken as [1000,3000], and subset is { B, M, S }.
Table A
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (6)
1. a kind of ship course and flight path keep remote trial system, it is characterised in that：Including ship model, wind speed and direction perception system
System, data acquisition and conveyer system, data receiver and processing system and Terminal Server Client；The ship model is from navigation ship model；
The ship model is to have from navigation ship model and concentrate controllable manipulation and propulsion system, and the manipulation and propulsion system include
Motor (6), propeller (7), rudder (8), steering engine (9) and the programmable automation controller PAC driven by the motor (6)
(11), the rudder (8) is controlled by the steering engine (9), the motor (6) and the steering engine (9) and the programmable automation control
Device PAC (11) processed connects and is controlled by it；
The wind speed and direction sensory perceptual system includes the air velocity transducer (10) being mounted on the ship model and wind transducer (5)；
The data acquisition and conveyer system include the course being installed on the ship model and track data acquisition module and number
Delivery module when factually, the course and track data acquisition module be used to acquire the plan-position of the ship model, horizontal velocity,
Bow to angle, velocity of rotation, sway speed, rudder angle and come about speed and propeller rotating speed and its change rate；
The data receiver and processing system include number biography and figure transmitting/receiving apparatus；
The Terminal Server Client includes networking bank machine；
Collected data transmission is acquired and is passed to the data by the air velocity transducer (10) and the wind transducer (5)
System, the data acquisition and conveyer system is sent to transfer data to the data receiver by the real-time delivery module of the data
And processing system, the networking bank machine of the data receiver and processing system and the Terminal Server Client by network connection,
And give the data transfer received to the networking bank machine.
2. a kind of ship course according to claim 1 and flight path keep remote trial system, it is characterised in that：The boat
To including Differential Global Positioning System DGPS (1), three-dimensional electronic compass (2) and attitude measurement instrument with track data acquisition module
MTI (3), the real-time delivery module of data include data radio station (4), the Differential Global Positioning System DGPS (1), described three
Tie up electronic compass (2), the attitude measurement instrument MTI (3) and the data radio station (4) respectively with the programmable automation control
Device PAC (11) connection processed.
3. a kind of ship course according to claim 1 and flight path keep remote trial system, it is characterised in that：It is described remote
Journey client includes the first networking bank machine (14) and the second networking bank machine (16), is equipped on the second networking bank machine (16) remote
Process control software (15), the first networking bank machine (14) is passed with the number and figure transmitting/receiving apparatus is connect.
4. a kind of ship course according to claim 1 and flight path keep remote trial system, it is characterised in that：The ship
Wireless wifi cameras (12) are also equipped on mould, the wireless wifi cameras (12) directly enter the second networking bank machine
(16) it is wirelessly connected.
5. a kind of ship course according to claim 3 and flight path keep remote trial system, it is characterised in that：The number
It passes and figure transmitting/receiving apparatus is bank base data radio station (13).
6. a kind of method that the ship course and flight path according to claim 1 to 5 any one keep remote trial system,
It is characterized in that：
All devices are mounted on pond bank on the ship model, then the ship model are put into pond, is adjusted by the first step
Floading condition makes it top-up；
Second step：According to test requirements document, ship model course information in pond is designed, control makes the ship model start；
Third walks：The course and track data acquisition mould acquire the data of the ship model, wherein difference global positioning system
System DGPS (1) records the position coordinates (x, y) of the ship model in real time, and the three-dimensional electronic compass (2) records the bow of the ship model
It is described by can be calculated the model plane actual course deviation β=ɑ-θ to the experimental design course ɑ of angle θ and the ship model
The actual course-line deviation L=y*sin α-x*cos α of model plane；
4th step：The programmable automation controller PAC (11) of the ship model passes through the course deviation that calculates
β, the course-line deviation L and the control rule set independently obtain the corner δ of the steering engine (9) that needs control and described
The rotating speed v of motor (6) finally makes the ship model be navigated by water along the flight path of planning；
5th step, during entire experiment, the air velocity transducer (10), the wind transducer (5) and the attitude measurement
Instrument MTI (3) records the athletic posture information of wind speed and direction and the ship model in real time, and by the described programmable of the ship model
Automation controller PAC (11) is acquired, and is sent on the networking bank machine by the data radio station (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466113.9A CN108762184A (en) | 2018-05-16 | 2018-05-16 | Ship course and flight path keep remote trial system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466113.9A CN108762184A (en) | 2018-05-16 | 2018-05-16 | Ship course and flight path keep remote trial system and method |
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| Publication Number | Publication Date |
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| CN108762184A true CN108762184A (en) | 2018-11-06 |
Family
ID=64008044
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810466113.9A Pending CN108762184A (en) | 2018-05-16 | 2018-05-16 | Ship course and flight path keep remote trial system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541657A (en) * | 2018-12-13 | 2019-03-29 | 集美大学 | A kind of the intelligence communication navigation system and method for unmanned ships and light boats |
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| CN106428414A (en) * | 2016-09-13 | 2017-02-22 | 江苏科技大学 | Ship model pitching, heaving and coupling motion remote test system and test method |
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| CN101739029A (en) * | 2009-12-03 | 2010-06-16 | 江苏科技大学 | Automatic control system of ship and control method thereof |
| CN102323820A (en) * | 2011-04-19 | 2012-01-18 | 江苏科技大学 | Intelligent rudder system and control method thereof |
| KR101261264B1 (en) * | 2011-08-25 | 2013-05-07 | 서울대학교산학협력단 | A model ship system for safety analysis of damaged ship and the method for motion probing the damaged model ship |
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Application publication date: 20181106 |