CN108897322A - Unmanned boat autonomous navigation Track In Track controller test emulation platform and working method - Google Patents
Unmanned boat autonomous navigation Track In Track controller test emulation platform and working method Download PDFInfo
- Publication number
- CN108897322A CN108897322A CN201810789860.6A CN201810789860A CN108897322A CN 108897322 A CN108897322 A CN 108897322A CN 201810789860 A CN201810789860 A CN 201810789860A CN 108897322 A CN108897322 A CN 108897322A
- Authority
- CN
- China
- Prior art keywords
- module
- track
- machine
- test
- ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 60
- 238000004891 communication Methods 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 71
- 238000002474 experimental method Methods 0.000 claims description 24
- 238000013178 mathematical model Methods 0.000 claims description 12
- 239000003643 water by type Substances 0.000 claims description 12
- 241000380131 Ammophila arenaria Species 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000012986 modification Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 claims description 2
- 238000011105 stabilization Methods 0.000 claims description 2
- 239000011800 void material Substances 0.000 claims 1
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 238000012827 research and development Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000011056 performance test Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000009466 transformation 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- 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)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a kind of unmanned boat autonomous navigation Track In Track controller test emulation platform and working method, the platform includes PC machine and DS2211 control panel, and the PC machine is bi-directionally connected with quasi- test Track In Track controller；PC machine is bi-directionally connected by the slot of ISA interface with DS2211 control panel.Man-machine interface and Ship Motion Simulation System are run in PC machine；DSPACE real-time system is run on DS2211 control panel.The present invention will be in the DS2211 control panel insertion PC machine of dSPACE real-time system, real-time communication is carried out by isa bus, Ship Motion Simulation System can be run in real-time simulation directly on control panel, DS2211 control panel realizes the target machine real-time simulation function under " two-shipper interconnection mode ", PC machine or Industrial Control Computer are not needed as target machine, solves the problems, such as that test platform hardware resource utilization is low and the practicability is poor under " two-shipper interconnection mode ".
Description
Technical field
The present invention relates to the measuring technology in unmanned boat field, especially a kind of unmanned boat autonomous navigation Track In Track controller
Test emulation platform and its working method.
Background technique
With the implementation of national marine development strategy, the research and development of unmanned boat are had received widespread attention.In view of navigation benefit,
The problem of safety etc., unmanned boat needs to plan desired optimal trajectory, track by making decisions on one's own during navigation
Tracking control unit controls the optimal trajectory autonomous navigation of unmanned boat desirably.But in Track In Track controller control unmanned boat boat
In capable process, unmanned boat will receive the influence of the marine environment disturbance changed at random, and the variation of the speed of a ship or plane, loading capacity can cause
Unmanned boat motion mathematical model Parameter Perturbation and generate uncertainty.Track In Track controller test emulation platform need to be established and carry out mould
Quasi- unmanned boat motion state and the different environment such as sea situation and restricted water, test unmanned boat Track In Track controller in above-mentioned disturbance
And autonomous navigation control function and performance in the case of Dynamic Uncertain.Therefore, it is flat to establish the emulation of Track In Track controller test
Platform is of great significance to the research and development of unmanned boat, will also bring huge social and economic benefit.
Chinese patent CN 107092199A discloses a kind of ship motion controller emulation platform and ship motion controller side
Method, by by marine vehicle movement control algorithm emulation testing on ship motion controller emulation platform, to verify ship motion controller
The reliability of algorithm.Chinese patent CN 101373491A discloses a set of test emulation system of marine vehicle movement control algorithm, this is
System may be implemented in 5446TEU Large Container Ship and 30,000 tons of two different ship types of oil tanker to various ship motion controllers
Algorithm carries out emulation testing, and marine vehicle movement control algorithm and ship type can be according to user demand free switchings, and pass through course
Test result curve is shown with track curve display interface.But the display interface of above-mentioned patent is based on VC++ platform development, deposits
In design process complexity and it is not easy the problem of realizing；And above-mentioned patent can only change sea situation parameter, and limitation water cannot be arranged
Domain is unable to control performance of the testing and control algorithm under restricted water.
Maritime Affairs University Of Dalian Shen Zhi roc et al. exists《Journal of System Simulation》Entitled " ship movement is delivered on 12nd phases in 2010
The paper of control hardware-in-loop simulation systematic research " has built PC as host, base using serial communication
Ship motion controller hardware-in-loop simulation system of the PC as " host-target machine " two-shipper interconnection mode of target machine, can be with
Test ship motion controller device performance；" emulation of ship Three Degree Of Freedom is flat for the broad-minded master thesis of Harbin Engineering University grandson
The research of platform design and forecasting procedure ", by the Ethernet based on TCP-IP agreement, has built " host-target machine " two-shipper
The real-time simulation platform of interconnection mode can test ship rolling, pitching, heave three degree of freedom movement.Above-mentioned two papers
The Real-time Simulation Test Platform built is low to target machine hardware resource utilization due to using two-shipper interconnection mode, and mechanism
Huge, the practicability is poor.
Summary of the invention
To solve the above problems existing in the prior art, the present invention will design a kind of nobody based on dSPACE real-time system
Track In Track controller may be implemented in complicated water in ship autonomous navigation Track In Track controller test emulation platform and working method
Function and performance test under the restricted waters such as domain, narrow waters；And it can solve the real-time survey built using two-shipper interconnection mode
Try the problem of platform hardware resource utilization is low and the practicability is poor.
To achieve the goals above, technical scheme is as follows：A kind of unmanned boat autonomous navigation Track In Track control
Device test emulation platform, including PC machine and DS2211 control panel, the PC machine pass through I/O interface and quasi- test Track In Track control
Device processed is bi-directionally connected；PC machine is bi-directionally connected by the slot of ISA interface with DS2211 control panel.
Man-machine interface and Ship Motion Simulation System are run in the PC machine；It is run on the DS2211 control panel
DSPACE real-time system.
The man-machine interface is the monitoring interface of Track In Track controller test, passes through the experiment of dSPACE real-time system
Software ControlDesk design is realized；The Ship Motion Simulation System is designed by MATLAB/Simulink and is realized.It is described
Ship Motion Simulation System include ship motion module, propulsion system module, position measuring system module, restricted water module
With stormy waves flow disturbance module.The ship motion module includes ship motion mathematical model；The propulsion system module packet
Include each propeller mathematical model and its power conversion mathematical model of propulsion system；The position measuring system module includes satellite
Navigation system and compass measure mathematical model；The restricted water module includes the boundary line mould of complex water areas and narrow waters
Quasi- mathematical model；The stormy waves flow disturbance module includes the equivalent perturbed force and torque number that stormy waves flow disturbance acts on ship
Learn model.
The ControlDesk experiment software of dSPACE real-time system include parameter setting, test curve show it is required each
Kind virtual functions module, the man-machine interface of easily designed close friend；DS2211 control panel is inserted into PC machine, DS2211 control panel and PC machine
By isa bus real-time communication, the Ship Motion Simulation System realized in PC machine with MATLAB/Simulink is controlled in DS2211
Plate real-time simulation operation；To carry out real-time testing to quasi- test Track In Track controller by I/O interface.
In the handshaking process of quasi- test Track In Track controller real-time testing, man-machine interface realizes following functions：
The setting of various control instructions；Setting, modification and the display of ship parameter and stormy waves stream parameter；Propeller status display；Track
The display of curve；The display of restricted water and the archive of test result.The control instruction includes experiment sign on, limitation
Waters dummy instruction and experiment END instruction.The ship parameter includes LOA length over all, the beam, full-load draft, sustainer
Power, displacement, center of gravity are away from centre distance and rudder area；The stormy waves stream parameter includes：Sea wind wind speed, ariyoshi wave height,
Average ocean current flow velocity, the angle of sea wind, wave and ocean current relative to north orientation；The sea wind is current stabilization wind；PC machine is connect by ISA
The executable C code of Ship Motion Simulation System is sent to DS2211 control panel and carries out real-time simulation by mouth, then ship movement is imitative
The ship motion module of true system simulates unmanned boat movement in real time；The propulsion system module of Ship Motion Simulation System is simulated in real time
The propeller of unmanned boat；The real-time analog satellite navigation system of the position measuring system module of Ship Motion Simulation System and compass are surveyed
Measure the location information of unmanned boat；The restricted water module of Ship Motion Simulation System simulates restricted water environment in real time；Ship fortune
The stormy waves flow disturbance module of dynamic analogue system, which simulates stormy waves suffered by unmanned boat in real time and drains off, disturbs, and DS2211 control panel will be imitated in real time
True result is the sensor live signal simulated, the boundary line signal of propeller real-time status signal and restricted water, passes through ISA
Interface sends PC machine back to, and PC machine sends it to man-machine interface again and is sent to quasi- test Track In Track controller by I/O interface.
The working method of unmanned boat autonomous navigation Track In Track controller test emulation platform, includes the following steps：
A, test emulation platform is opened；
B, ship parameter and stormy waves stream parameter are arranged by man-machine interface, man-machine interface sends stormy waves to ship motion module
Flow parameter；The ship parameter includes LOA length over all, the beam, full-load draft, sustainer power, displacement, center of gravity away from
Heart distance and rudder area；The stormy waves stream parameter includes：Sea wind wind speed, ariyoshi wave height, average ocean current flow velocity, sea wind, sea
Wave and angle of the ocean current relative to north orientation；
C, whether I/O interface is passed through according to quasi- test Track In Track controller the experiment of man-machine interface has been arrived and start to refer to
Enable signal it is determined whether to enable test, such as quasi- test Track In Track controller is not received by signal, goes to step C；Otherwise, it executes
Step D；
D, judged whether according to the restricted water dummy instruction signal whether restricted water module has received man-machine interface
It opens restricted water simulation and goes to step E if opening；Otherwise, F is gone to step；
E, restricted water module, which receives, comes from man-machine interface restricted water dummy instruction signal, and simulation water channel is narrow to wait limitation
Water environment, and the boundary line signal of operation result ship restricted water is sent to man-machine interface；
F, stormy waves stream parameter is arranged by man-machine interface；
Stormy waves flow disturbance module receives stormy waves stream parameter, and simulation run acts on operation result, that is, stormy waves stream on ship
Equivalent perturbed force and torque signals are sent to ship motion module；
G, intend test Track In Track controller and turned by I/O interface to the expectation that propulsion system module sends each propeller
Speed, deflection, helm signal；Propulsion system module receives expectation revolving speed, deflection from quasi- test Track In Track controller
Signal, simulation run, and operation result, that is, propeller actual speed, deflection, helm signal are sent to man-machine interface, and
It converts the actual speed of each propeller, deflection, helm signal to the equivalent force for acting on unmanned boat and torque signals is sent
Give ship motion module；
H, ship motion module receives the operation result from propulsion system module and stormy waves flow disturbance module, emulation fortune
Row, and operation result, that is, ship motion state signal is sent to position measuring system module, the position motion state letter
Number include position signal and angle signal；
I, position measuring system module receives the operation result from ship motion module, simulation run, and operation is tied
The sensor signal of fruit position measuring system simulation is sent to man-machine interface and quasi- test Track In Track controller；
J, man-machine interface receives the operation result from restricted water module, position measuring system module, and shows ship
Parameter, stormy waves stream parameter, propeller state, actual flight path curve, ship restricted water, and test result is achieved；
K, judge whether to change stormy waves stream parameter, if so, going to step F；If it is not, going to step K；
L, judge whether to change restricted water simulation, if so, going to step E；If it is not, going to step L；
M, whether passing through I/O interface according to quasi- test Track In Track controller and arrived the experiment of man-machine interface terminates to refer to
It enables signal judge whether to terminate experiment, if so, terminating experiment, closes test emulation platform；If it is not, not changing experiment condition continuation
Experiment, goes to step G.
Compared with prior art, the invention has the advantages that：
1, the present invention establishes a real-time testing emulation platform, can efficiently test autonomous navigation Track In Track controller
In the function and performance of different sea situations and restricted water, the danger of shiphoard measurement is avoided, the research and development cost of unmanned boat can be saved,
Shorten the R&D cycle of unmanned boat.
2, test emulation platform of the present invention develops man-machine boundary by the experiment software ControlDesk of dSPACE real-time system
Face, ControlDesk experiment software includes the various virtual functions modules needed for parameter setting, test curve are shown etc., man-machine
Interface is not required to program by VC++ platform and realize, solves to be not easy to realize based on VC++ platform development Human Machine Interface process complexity
The problem of.
3, the present invention includes restricted water module, and Track In Track controller may be implemented in complex water areas, narrow waters etc.
Restricted water function and performance test.
4, the present invention is by the DS2211 control panel of dSPACE real-time system insertion PC machine, they can by isa bus into
Row real-time communication, then the Ship Motion Simulation System realized with MATLAB/Simulink in PC machine can be directly on control panel
Real-time simulation operation, DS2211 control panel realize the target machine real-time simulation function under " two-shipper interconnection mode ", do not need PC machine
Or Industrial Control Computer is as target machine, solves that test platform hardware resource utilization under " two-shipper interconnection mode " is low and practicability
The problem of difference.
Detailed description of the invention
Fig. 1 is test emulation platform structure schematic diagram.
Fig. 2 is test emulation bracket signal interchange graph.
Fig. 3 is test emulation working platform flow chart.
In figure：1, intend test Track In Track controller, 2, PC machine, 3, DS2211 control panel, 4, I/O interface, 5, ISA connects
Mouthful, 6, ship motion module, 7, propulsion system module, 8, position measuring system module, 9, restricted water module, 10, stormy waves stream
Disturb module, 11, man-machine interface.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.As shown in Figure 1, Track In Track controller test emulates
Platform includes man-machine interface 8, I/O interface 2 and Ship Motion Simulation System；The Ship Motion Simulation System includes ship fortune
Dynamic model block 3, propulsion system module 4, position measuring system module 5, restricted water module 6, stormy waves flow disturbance module 7.
By man-machine interface 8 realize the settings of various control instructions, the transmitting of ship parameter and stormy waves stream parameter and display,
Propeller status display, the display of track curve, the display of restricted water and test result archive.The control instruction packet
It includes：Test sign on, restricted water dummy instruction and experiment END instruction.The instruction set in man-machine interface 8 can produce
The signal of raw intermodule transmitting.
The man-machine interface 8 respectively with ship motion module 3, propulsion system module 4, position measuring system module 5, limit
Waters module 6 processed, stormy waves flow disturbance module 7, quasi- test Track In Track controller 1 carry out data exchange.Man-machine interface 8 will be arranged
Ship parameter pass to ship motion module 3；Man-machine interface 8 sends restricted water analog signal to restricted water module 6；People
Stormy waves stream parameter is passed to stormy waves flow disturbance module 7 by machine interface 8；Man-machine interface 8 sends to quasi- test Track In Track device 1 and tests
Commencing signal and experiment end signal；Man-machine interface 8 receive in propulsion system module 4 actual speed of each propeller,
The signals such as deflection, rudder angle；Man-machine interface 8 receives the restricted water boundary line signal from restricted water module 6；Man-machine interface
8 receive the analog signal of the sensor from position measuring system module 5, and the analog signal of the sensor includes angle letter
Number and position signal.
The restricted water analog signal includes that the work of restricted water module 6 and restricted water module 6 do not work two kinds
Situation：The selection that restricted water dummy instruction realizes two kinds of situations is arranged by man-machine interface 8 by user.In restricted water module 6
Under working condition, restricted water module 6 receives the restricted water analog signal from man-machine interface 8, the limit such as simulation narrow waters
Water environment processed, and by operation result, that is, restricted water boundary line signal to man-machine interface；It is idle in restricted water module 6
In the case of, restricted water module 6 does not send data to man-machine interface 8.
As shown in Fig. 2, a kind of Track In Track controller test emulation platform working method, includes the following steps：
A, it opens test emulation platform and carries out ship parameter initialization
Before quasi- test Track In Track controller 1 is tested, ship parameter is initialized.Ship parameter initialization is man-machine boundary
The ship parameter of setting is passed to ship motion module 3 by face 8, and ship motion module 3 is carried out according to the ship parameter received
Initialization operation.The ship parameter includes the speed of a ship or plane, length between perpendiculars, the beam, full-load draft, Block Coefficient, displacement, center of gravity
Away from centre distance and rudder area.
B, judge whether to start to test
After the completion of initialization, intends test Track In Track controller 1 and receives the experiment commencing signal from man-machine interface 8,
According to the state of experiment sign on, it is determined whether to enable tests, wait if not needing test in this step；Otherwise under executing
One step；
C, start to test
Quasi- test Track In Track controller 1 is real by I/O interface 2 and propulsion system module 4, position measuring system module 5
Existing Real Data Exchangs, start to test.
D, 4 working method of propulsion system module
Quasi- test Track In Track controller 1 sends expectation revolving speed, deflection and the rudder of each propeller to propulsion system module 2
Angle signal, propulsion system module 4 receive expectation revolving speed, deflection and helm signal from quasi- test Track In Track controller 1,
Simulation run, and operation result, that is, propeller actual speed, deflection and helm signal are sent to man-machine interface 8, and lead to
Exertin transformation model convert the actual speed of each propeller, deflection and helm signal to the equivalent force for acting on unmanned boat and
Torque is sent to ship motion module 3；
E, 7 working method of stormy waves flow disturbance module
Stormy waves stream parameter is set by man-machine interface, stormy waves flow disturbance module 7 receives stormy waves stream parameter, and simulation run will
Operation result, that is, stormy waves stream acts on equivalent perturbed force and torque on ship and is sent to ship motion module 3；
F, 6 working method of restricted water module
According to the state of restricted water dummy instruction, it is determined whether to enable restricted water simulations, if being not turned on, restricted water
Module 6 does not send data to man-machine interface；Otherwise, restricted water module, which receives, comes from man-machine interface restricted water analog signal,
The narrow equal restricted waters environment of simulation water channel, and operation result, that is, restricted water boundary line is sent to man-machine interface 8；
G, 3 working method of ship motion module
Ship motion module 3 receives the operation result from propulsion system module 4 and stormy waves flow disturbance module 7, emulation fortune
Row, is sent to position measuring system module 5 for operation result, that is, ship real time kinematics state；
H, the working method of position measuring system module 5
Position measuring system module 5 receives the operation result from ship motion module 3, simulation run, and operation is tied
Fruit, that is, each sensor analog signal sends man-machine interface 8 and quasi- test Track In Track controller 1 respectively.
I, the working method of man-machine interface 8
Restricted water module do not work 6 in the case where, man-machine interface 8 receive propulsion system module 4, position measuring system
The operation result of module 5, by ship parameter, propeller state, stormy waves stream parameter, the desired track curve of unmanned boat, unmanned boat
Actual track curve is shown in man-machine interface 8；In the case where restricted water module 6 works, man-machine interface 8, which receives, to be promoted
The operation result of system module 4, restricted water module 6, position measuring system module 5, by ship parameter, propeller state, wind
Wave stream parameter, the desired track curve of unmanned boat, the actual track curve of unmanned boat and ship feasible zone are shown in man-machine interface 8
Show, and test result is achieved；
J, judge whether to change stormy waves stream parameter, if so, resetting stormy waves stream parameter in man-machine interface；If it is not, holding
Row is in next step；
K, judge whether to change restricted water simulation, if so, changing special waters dummy instruction in man-machine interface；If
It is no, it performs the next step；
L, judge whether to terminate experiment according to the state of experiment END instruction, if so, terminating；If it is not, not changing experiment item
Part continues to test.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (2)
1. a kind of unmanned boat autonomous navigation Track In Track controller test emulation platform, it is characterised in that：Including PC machine (2) and
DS2211 control panel (3), the PC machine (2) are bi-directionally connected by I/O interface (4) and quasi- test Track In Track controller (1)；
PC machine (2) is bi-directionally connected by the slot of ISA interface (5) with DS2211 control panel (3)；
Man-machine interface (11) and Ship Motion Simulation System are run in the PC machine (2)；On the DS2211 control panel (3)
Run dSPACE real-time system；
The man-machine interface (11) is the monitoring interface of Track In Track controller test, passes through the experiment of dSPACE real-time system
Software ControlDesk design is realized；The Ship Motion Simulation System is designed by MATLAB/Simulink and is realized；It is described
Ship Motion Simulation System include ship motion module (6), propulsion system module (7), position measuring system module (8), limit
Waters module (9) processed and stormy waves flow disturbance module (10)；The ship motion module (6) includes ship motion mathematical model；
The propulsion system module (7) includes each propeller mathematical model and its power conversion mathematical model of propulsion system；Described
Position measuring system module (8) includes satellite navigation system and compass measurement mathematical model；Restricted water module (9) packet
Include the boundary line simulation mathematical model of complex water areas and narrow waters；The stormy waves flow disturbance module (10) includes that stormy waves stream is disturbed
Movement is for the equivalent perturbed force and torque mathematical model on ship；
The ControlDesk experiment software of dSPACE real-time system shows required various void comprising parameter setting, test curve
Quasi- functional module, the man-machine interface (11) of easily designed close friend；DS2211 control panel (3) is inserted into PC machine (2), DS2211 control panel
(3) pass through isa bus real-time communication, the Simulation of ship motion realized in PC machine (2) with MATLAB/Simulink with PC machine (2)
System is run in (3) real-time simulation of DS2211 control panel；To pass through I/O interface (4) to quasi- test Track In Track controller (1)
Carry out real-time testing；
In the handshaking process of quasi- test Track In Track controller (1) real-time testing, man-machine interface (11) realizes following function
Energy：The setting of various control instructions；Setting, modification and the display of ship parameter and stormy waves stream parameter；Propeller status display；Boat
The display of trace curve；The display of restricted water and the archive of test result；The control instruction includes experiment sign on, limit
Waters dummy instruction processed and experiment END instruction；The ship parameter includes LOA length over all, the beam, full-load draft, leads and start
Machine power, displacement, center of gravity are away from centre distance and rudder area；The stormy waves stream parameter includes：Sea wind wind speed, ariyoshi wave
Height, average ocean current flow velocity, the angle of sea wind, wave and ocean current relative to north orientation；The sea wind is current stabilization wind；PC machine (2) is logical
It crosses ISA interface (5) and the executable C code of Ship Motion Simulation System is sent to DS2211 control panel (3) progress real-time simulation,
The then ship motion module (6) of Ship Motion Simulation System simulation unmanned boat movement in real time；The propulsion of Ship Motion Simulation System
System module (7) simulates the propeller of unmanned boat in real time；Position measuring system module (8) real-time mould of Ship Motion Simulation System
The location information of quasi- satellite navigation system and compass measurement unmanned boat；The restricted water module (9) of Ship Motion Simulation System is real
When simulate restricted water environment；The stormy waves flow disturbance module (10) of Ship Motion Simulation System simulates wind suffered by unmanned boat in real time
Wave, which drains off, disturbs, and real time simulation results are the sensor live signal simulated, propeller real-time status letter by DS2211 control panel (3)
Number and restricted water boundary line signal, sent back to PC machine (2) by ISA interface (5), PC machine (2) sends it to man-machine boundary again
Face (11) and quasi- test Track In Track controller (1) is sent to by I/O interface (4).
2. the working method of unmanned boat autonomous navigation Track In Track controller test emulation platform, it is characterised in that：Including following
Step：
A, test emulation platform is opened；
B, ship parameter and stormy waves stream parameter be set by man-machine interface (11), man-machine interface (11) is to ship motion module (6)
Send stormy waves stream parameter；The ship parameter include LOA length over all, the beam, full-load draft, sustainer power, displacement,
Center of gravity is away from centre distance and rudder area；The stormy waves stream parameter includes：Sea wind wind speed, ariyoshi wave height, average ocean current flow velocity,
The angle of sea wind, wave and ocean current relative to north orientation；
C, whether the experiment that I/O interface (4) have received man-machine interface (11) is passed through according to quasi- test Track In Track controller (1)
It is determined whether to enable test, such as quasi- tests Track In Track controller (1) to be not received by signal, go to step C for sign on signal；
Otherwise, step D is executed；
D, it is according to the restricted water dummy instruction signal judgement whether restricted water module (9) has received man-machine interface (11)
No unlatching restricted water simulation goes to step E if opening；Otherwise, F is gone to step；
E, restricted water module (9), which receives, comes from man-machine interface (11) restricted water dummy instruction signal, and simulation water channel is narrow etc.
Restricted water environment, and the boundary line signal of operation result ship restricted water is sent to man-machine interface (11)；
F, stormy waves stream parameter is set by man-machine interface (11)；
Stormy waves flow disturbance module (10) receives stormy waves stream parameter, and simulation run acts on operation result, that is, stormy waves stream on ship
Equivalent perturbed force and torque signals are sent to ship motion module (6)；
G, intend the phase that test Track In Track controller (1) sends each propeller by I/O interface (4) to propulsion system module (7)
Hope revolving speed, deflection, helm signal；Propulsion system module (7) receives the expectation from quasi- test Track In Track controller (1) and turns
Speed, direction angle signal, simulation run, and operation result, that is, propeller actual speed, deflection, helm signal are sent to people
Machine interface (11), and convert the actual speed of each propeller, deflection, helm signal to the equivalent force for acting on unmanned boat and
Torque signals are sent to ship motion module (6)；
H, ship motion module (6) receives the operation result for coming from propulsion system module (7) and stormy waves flow disturbance module (10), imitates
True operation, and operation result, that is, ship motion state signal is sent to position measuring system module (8), the position movement
Status signal includes position signal and angle signal；
I, position measuring system module (8) receives the operation result for coming from ship motion module (6), simulation run, and will run
As a result the sensor signal of position measuring system simulation is sent to man-machine interface (11) and quasi- test Track In Track controller (1)；
J, man-machine interface (11) receives the operation result from restricted water module (9), position measuring system module (8), and shows
Show ship parameter, stormy waves stream parameter, propeller state, actual flight path curve, ship restricted water, and test result is achieved；
K, judge whether to change stormy waves stream parameter, if so, going to step F；If it is not, going to step K；
L, judge whether to change restricted water simulation, if so, going to step E；If it is not, going to step L；
M, whether the experiment that I/O interface (4) have received man-machine interface (11) is passed through according to quasi- test Track In Track controller (1)
END instruction signal judges whether to terminate experiment, if so, terminating experiment, closes test emulation platform；If it is not, not changing experiment item
Part continues to test, and goes to step G.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810789860.6A CN108897322B (en) | 2018-07-18 | 2018-07-18 | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810789860.6A CN108897322B (en) | 2018-07-18 | 2018-07-18 | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108897322A true CN108897322A (en) | 2018-11-27 |
| CN108897322B CN108897322B (en) | 2021-02-12 |
Family
ID=64351163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810789860.6A Expired - Fee Related CN108897322B (en) | 2018-07-18 | 2018-07-18 | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108897322B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507911A (en) * | 2018-12-12 | 2019-03-22 | 大连海事大学 | A kind of unmanned truck autonomous driving technical testing emulation platform and working method |
| CN109634289A (en) * | 2019-01-24 | 2019-04-16 | 大连海事大学 | A kind of unmanned boat autonomous navigation system and its working method |
| CN109739108A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | AUV kinetic control system hardware-in―the-loop test analogue system and its working method |
| CN109814547A (en) * | 2018-12-24 | 2019-05-28 | 上海大学 | Unmanned boat Course Keeping Control and method under stormy waves interference effect |
| CN109911110A (en) * | 2019-03-27 | 2019-06-21 | 武汉理工大学 | Become steady ship |
| CN110737986A (en) * | 2019-10-15 | 2020-01-31 | 大连海事大学 | unmanned ship energy efficiency intelligent optimization simulation system and method |
| CN111045424A (en) * | 2019-11-28 | 2020-04-21 | 青岛海狮网络科技有限公司 | Test system of intelligent ship decision instruction interpretation module |
| CN111353233A (en) * | 2020-03-11 | 2020-06-30 | 智慧航海（青岛）科技有限公司 | Intelligent ship autonomous navigation function test simulation experiment frame |
| CN111532398A (en) * | 2020-04-26 | 2020-08-14 | 杭州智海人工智能有限公司 | Simulation and observation algorithm for unmanned ship |
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN113053170A (en) * | 2019-12-29 | 2021-06-29 | 广东华风海洋信息系统服务有限公司 | Method for realizing intelligent navigation system |
| CN113120186A (en) * | 2020-01-16 | 2021-07-16 | 广州幻境科技有限公司 | Unmanned ship testing method and system based on virtual reality |
| WO2024046090A1 (en) * | 2022-08-31 | 2024-03-07 | 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) | Modular ship motion control debugging system and ship motion control debugging method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| WO2015028636A1 (en) * | 2013-08-30 | 2015-03-05 | Kongsberg Maritime As | Power control in marine vessel |
| CN105955068A (en) * | 2016-06-14 | 2016-09-21 | 大连海事大学 | Ship-borne stable platform experiment system and working method thereof |
| CN106042978A (en) * | 2016-07-11 | 2016-10-26 | 吉林大学 | Self-adaptive cruising system and control method |
| CN107025356A (en) * | 2017-04-19 | 2017-08-08 | 武汉理工大学 | Cruiseway navigation safe simulation test platform and method based on hardware in loop |
| CN107422736A (en) * | 2017-08-03 | 2017-12-01 | 大连海事大学 | A kind of unmanned boat independently makes a return voyage system and its method of work |
| CN107798185A (en) * | 2017-10-20 | 2018-03-13 | 山东交通学院 | A kind of course line automated design system and its construction method based on ECDIS |
-
2018
- 2018-07-18 CN CN201810789860.6A patent/CN108897322B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| WO2015028636A1 (en) * | 2013-08-30 | 2015-03-05 | Kongsberg Maritime As | Power control in marine vessel |
| CN105955068A (en) * | 2016-06-14 | 2016-09-21 | 大连海事大学 | Ship-borne stable platform experiment system and working method thereof |
| CN106042978A (en) * | 2016-07-11 | 2016-10-26 | 吉林大学 | Self-adaptive cruising system and control method |
| CN107025356A (en) * | 2017-04-19 | 2017-08-08 | 武汉理工大学 | Cruiseway navigation safe simulation test platform and method based on hardware in loop |
| CN107422736A (en) * | 2017-08-03 | 2017-12-01 | 大连海事大学 | A kind of unmanned boat independently makes a return voyage system and its method of work |
| CN107798185A (en) * | 2017-10-20 | 2018-03-13 | 山东交通学院 | A kind of course line automated design system and its construction method based on ECDIS |
Non-Patent Citations (2)
| Title |
|---|
| 吴青等: "基于MPC的无人船运动控制及可视化仿真系统实现", 《武汉理工大学学报（交通科学与工程版）》 * |
| 李文华等: "船舶动力定位海洋环境扰动的建模与仿真", 《第三十一届中国控制会议》 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507911B (en) * | 2018-12-12 | 2021-10-15 | 大连海事大学 | Unmanned truck autonomous driving technology test simulation platform and working method |
| CN109507911A (en) * | 2018-12-12 | 2019-03-22 | 大连海事大学 | A kind of unmanned truck autonomous driving technical testing emulation platform and working method |
| CN109814547A (en) * | 2018-12-24 | 2019-05-28 | 上海大学 | Unmanned boat Course Keeping Control and method under stormy waves interference effect |
| CN109814547B (en) * | 2018-12-24 | 2022-08-05 | 上海大学 | Unmanned ship course keeping device and method under action of wind wave interference |
| CN109739108A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | AUV kinetic control system hardware-in―the-loop test analogue system and its working method |
| CN109634289A (en) * | 2019-01-24 | 2019-04-16 | 大连海事大学 | A kind of unmanned boat autonomous navigation system and its working method |
| CN109911110A (en) * | 2019-03-27 | 2019-06-21 | 武汉理工大学 | Become steady ship |
| CN109911110B (en) * | 2019-03-27 | 2020-04-21 | 武汉理工大学 | Stability-variable ship |
| CN110737986B (en) * | 2019-10-15 | 2023-08-08 | 大连海事大学 | Unmanned ship energy efficiency intelligent optimization simulation system and method |
| CN110737986A (en) * | 2019-10-15 | 2020-01-31 | 大连海事大学 | unmanned ship energy efficiency intelligent optimization simulation system and method |
| CN111045424B (en) * | 2019-11-28 | 2023-08-11 | 青岛海狮网络科技有限公司 | Test system of intelligent ship decision instruction interpretation module |
| CN111045424A (en) * | 2019-11-28 | 2020-04-21 | 青岛海狮网络科技有限公司 | Test system of intelligent ship decision instruction interpretation module |
| CN113053170A (en) * | 2019-12-29 | 2021-06-29 | 广东华风海洋信息系统服务有限公司 | Method for realizing intelligent navigation system |
| CN113120186A (en) * | 2020-01-16 | 2021-07-16 | 广州幻境科技有限公司 | Unmanned ship testing method and system based on virtual reality |
| CN111353233A (en) * | 2020-03-11 | 2020-06-30 | 智慧航海（青岛）科技有限公司 | Intelligent ship autonomous navigation function test simulation experiment frame |
| CN111353233B (en) * | 2020-03-11 | 2024-03-29 | 智慧航海（青岛）科技有限公司 | Intelligent ship autonomous navigation function test simulation experiment frame |
| CN111532398A (en) * | 2020-04-26 | 2020-08-14 | 杭州智海人工智能有限公司 | Simulation and observation algorithm for unmanned ship |
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| WO2024046090A1 (en) * | 2022-08-31 | 2024-03-07 | 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) | Modular ship motion control debugging system and ship motion control debugging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108897322B (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108897322A (en) | Unmanned boat autonomous navigation Track In Track controller test emulation platform and working method | |
| CN100524132C (en) | Method for testing of a combined dynamic positioning and power management system | |
| CN105446821B (en) | A kind of Intelligent Underwater Robot propeller method for diagnosing faults based on improvement neural network | |
| CN104090497B (en) | Dynamic positioning system analogue system and method for work thereof for ocean engineering field | |
| JP2006512244A5 (en) | ||
| CN104267606B (en) | A kind of power-positioning control system hardware-in-the-loop test emulator and method of work thereof | |
| CN101373491A (en) | Test emulation system of marine vehicle movement control algorithm | |
| CN109739108A (en) | AUV kinetic control system hardware-in―the-loop test analogue system and its working method | |
| CN114004015B (en) | Unmanned ship modeling and motion simulation method based on ROS-Gazebo | |
| CN114692520A (en) | Multi-scene-oriented unmanned ship virtual simulation test platform and test method | |
| CN113933016B (en) | Wind tunnel test device and method for simulating floating type wind turbine generator movement response | |
| CN110136486A (en) | A kind of port area Navigation capacity judgment method and system | |
| CN105825738B (en) | A kind of hydrofoil catamaran semi-matter simulating system | |
| CN111881632A (en) | Helicopter wind limit diagram determining method and system | |
| Huu et al. | A hardware-in-the-loop simulator to design and test ship motion controllers | |
| CN113189964A (en) | Model test platform for fault mode response test of dynamic positioning system | |
| CN111045424B (en) | Test system of intelligent ship decision instruction interpretation module | |
| CN115686008A (en) | Ship dynamic positioning auxiliary anchoring system design based on instruction filtering backstepping method | |
| CN114741778A (en) | Unmanned ship autonomous capability testing system and method based on man-machine game | |
| CN112947445A (en) | Distributed self-adaptive ship track keeping system adopting redundant communication | |
| Lin et al. | The design of a submarine voyage training simulator | |
| CN118171395B (en) | Digital twin system for unmanned sailing boat performance analysis | |
| Chen et al. | Research on ship automatic modeling and identification system | |
| Parodi et al. | Connectivity of thetis, a distributed hybrid simulator, with a mixed control architecture | |
| da Silva et al. | Instrumentation and data acquisition system for full-scale manoeuvrability tests on board of naval surface ships |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210212 |