CN110111634A - A kind of submarine dynamical system simulation training device that actual situation combines - Google Patents
A kind of submarine dynamical system simulation training device that actual situation combines Download PDFInfo
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- CN110111634A CN110111634A CN201910475371.8A CN201910475371A CN110111634A CN 110111634 A CN110111634 A CN 110111634A CN 201910475371 A CN201910475371 A CN 201910475371A CN 110111634 A CN110111634 A CN 110111634A
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- 238000012549 training Methods 0.000 title claims abstract description 68
- 238000005183 dynamical system Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 abstract description 20
- 238000000034 method Methods 0.000 abstract description 10
- 238000013024 troubleshooting Methods 0.000 abstract description 3
- 238000004422 calculation algorithm Methods 0.000 description 6
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- 238000005094 computer simulation Methods 0.000 description 1
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
A kind of submarine dynamical system simulation training device that actual situation combines, belongs to system emulation training technique field.Including in-kind simulation hardware system, digital simulation software systems, data communication interface system, training management and examination four part of software systems, it is characterized in that: by sequentially connected instructor station computer, digital simulation model server computer and the network switch are located in server cabinet, by sequentially connected industrial personal computer host module, industrial personal computer I/O module and industrial personal computer module slot are located in industry control cabinet, by sequentially connected display instrument, indicator light, switch, button, consing computer is set in the console, it separately sets and shows computer by machine, on-site control case, pipeline, valve, virtual training ship person operates computer.The present apparatus can be used for carrying out ship person the training and examination of normal driving and parking operation and troubleshooting, and with low cost, the operation of raising ship person is horizontal under the environment of safety.
Description
Technical field
The invention belongs to system emulation training technique field, it is related to a kind of submarine simulation training device, more particularly to a kind of
The submarine dynamical system simulation training device that actual situation combines.
Background technique
Dynamical system is the critical system of submarine, and operation is most complicated in submarine operation, is needed often to responsible power
The soldier of cabin operation is trained.It is trained using simulation training device, is to guarantee training of safety and save to train cost
Effective way.For simulation training device generally there are two types of form, one kind being called half actual load simulator, and another kind is called complete virtual mould
Quasi- device.Half actual load simulator is in kind using a part of hardware, these phases in kind corresponding with practical submarine system in kind
It is same or similar, and the other parts in practical submarine system are simulated with computer software；Full virtual analog device is then all used
Computer software simulates real system.
The advantages of half actual load simulator is training environment closer to truth, can carry out practical hands-on,
There is actual experience sense, can achieve good combat training effect.The disadvantage is that: a) manufacturing cost and maintenance cost are high；B) still
Whole physical devices can not be simulated, still has gap with the combat training on true submarine；C) undertrained flexible, if
It is directly trained since any specific state, then needs that a part of hardware device is first manually adjusted to corresponding state.
The advantages of full virtual analog device is that manufacturing cost and maintenance cost are low, training flexibly, can be convenient from any
One original state starts to train, and more groupings while training can be realized under the premise of hardly increasing hardware cost,
The disadvantage is that actual experience sense is poor, it cannot practical hands-on.
The Chinese utility model patent of Publication No. CN207764741U discloses a kind of Ship Equipment training action capture
Device, the Ship Equipment include console, and the console is provided with key, knob, handwheel comprising with the console
At least one camera being fixedly connected, the host being connect with the camera by cable are arranged on the key and determine
Position pad is pasted onto the first positioning patch of the knob side wall, and the second positioning patch being pasted on the handwheel is logical with the host
The AR helmet of cable or wireless connection is crossed, the locating pad is made of transparent resin material, and top is provided with grid lines, institute
Stating the first positioning patch is strip adhesive tape, and the color lump for the different colours for being provided with sequential connection is sticked in first positioning, described
Second positioning patch is the adhesive tape with solid color.
The Chinese invention application of Publication No. CN107248024A discloses a kind of assessment submarine based on SVM algorithm
The method of member's simulated training result, comprising: collect the corresponding each subject history examination of ID and the ID of each submarine student at
Achievement；The pretreatment and standardization that each section's purpose history score of the examination of each submarine student is carried out to data, obtain each submarine
Each subject evaluation index value of student；Establish SVM assessment algorithm；The SVM assessment algorithm is trained, SVM assessment is obtained
Model；Each section's purpose simulated training achievement that each submarine student need to evaluate is assessed according to the SVM assessment models, is obtained
To the assessment result of each submarine student.
The Chinese invention application of Publication No. CN107908850A discloses a kind of digitlization training of submarine and leads tune management system
System, comprising: training management end and system administration end；The training management end includes: student management module；Planning management module,
For the training of all students of administration of coaches, including theory study management submodule, examination test questions management submodule
Block, training subject management submodule, training workflow management submodule；Task assigns module；Monitoring module；The system pipes
Managing end includes: user management module and configuration management module.
The similarity degree of simulation training device and practical Submarine Equipments is higher, and training effect is more ideal.It has developed at present
Simulation training device, distance really applies in training and reaches the targets of better effects there are also no small gaps.
Summary of the invention
It is an object of the invention to provide a kind of for trained submarine dynamical system simulator, which can
Reach high, at low cost, the highly-safe requirement of simulation accuracy, can be utilized for submarine dynamical system normal driving and parking operation and
The training and examination of troubleshooting.To achieve the goals above, the technical solution adopted by the present invention is as follows.
A kind of submarine dynamical system simulation training device that actual situation combines, including in-kind simulation hardware system, Digital Simulation
Simulation softward system, data communication interface system, training management and examination four part of software systems, it is characterized in that:
Hardware group becomes (see attached drawing 1): successively by instructor station computer 1,2 and of digital simulation model server computer
The network switch 3 is located in server cabinet 4；Successively by industrial personal computer host module 5, industrial personal computer I/O module (multiple) 6 and industry control
Machine module slot 7 is located in industry control cabinet 8, successively by display instrument (multiple) 9, indicator light (multiple) 10, switch (multiple) 11,
Button (multiple) 12, consing computer 13 are located in console 14, are separately set and are shown computer (more) 15 by machine, by machine
Control cabinet (multiple) 16, pipeline (multiple) 17, valve (multiple) 18, virtual training ship person operate computer (more) 19.Coach
Member's station computer 1, digital simulation model server computer 2, industrial personal computer host module 5, consing computer 13, by machine
Display computer (more) 15, virtual training ship person operate computer (more) 19 and are connect by cable with the network switch 3,
Industrial personal computer host module 5 and industrial personal computer I/O module (multiple) 6 are connect with industrial personal computer module slot 7 by data/address bus, display instrument
Table (multiple) 9, indicator light (multiple) 10, switch (multiple) 11, button (multiple) 12, on-site control case (multiple) 16, pipeline are (more
It is a) 17, valve (multiple) 18 connect with industrial personal computer I/O module (multiple) 6 by conducting wire.
Software group prejudice attached drawing 2.Wherein artificial supporting software module 201, I/O data communications software modules 203, data are adopted
Collection and output software module 204, human interface software module 205, training management software module 206 and examination software module 207
Mature business software can be used, Simulation Calculation software module 202 is according to data such as structure, the parameters of practical model submarine
Carry out customized exploitation.
Data flow are as follows: it is soft that the input data of data acquisition and the acquisition of output software module 204 is transferred to I/O data communication
Part module 203, then be transferred in the database of artificial supporting software module 201 by I/O data communications software modules 203, emulation branch
The output data supportted in the database of software module 201 is transferred to I/O data communications software modules 203, then is communicated by I/O data soft
Part module 203 is transferred to data acquisition and output software module 204；Simulation Calculation software module 202 and emulation support are soft
The two-way communication of simulation calculation data is carried out between part module 201；Human interface software module 205 and artificial supporting software module
The two-way communication of interface display data and interface operation director data is carried out between 201；Training management software module 206 and emulation
The two-way communication of management data is trained between support programs module 201；Check and rate software module 207 and artificial supporting software mould
The two-way communication of simulation calculation data and operation data is carried out between block 201.
Artificial supporting software module 201, Simulation Calculation software module 202, I/O data communications software modules 203 are in number
It is run in word simulation model server computer 2；Data acquisition and output software module 204 are transported in industrial personal computer host module 5
Row；Human interface software module 205 shows computer (more) 15, virtual instruction by consing computer 13, machine respectively
Practice and is run in ship person operation computer (more) 19；Training management software module 206 is run in instructor station computer 1；It examines
Software module is commented to operate in computer (more) 19 and run in instructor station computer 1, virtual training ship person respectively.
Submarine dynamical system simulation training device provided by the invention, relative to existing submarine simulation training device,
Be primarily present following difference: 1) it is that actual situation combines, and existing half actual load simulation system also has complete virtual simulation system,
In full virtual analog system can be divided into multiple groups while be trained and checking and rating, and half actual load simulation system and multiple groups are entirely empty
Quasi- simulation system can also be run simultaneously, mutually indepedent between each group, be independent of each other.2) it is relatively complete, collection simulation
Training function, training management function and examination function are in one.
The device is complicated for submarine dynamical system, to realize by half actual load simulation system, full virtual analog system, training management and
Examination function is organically combined together, and there are certain difficulty.Technical solution provided by the invention is in hardware, software and soft or hard
In terms of part interface, the difficulty in terms of the system combined debugging as caused by system complex is overcome.For example use advanced system
System simulation modeling platform substantially increases the efficiency of Building of Simulation Model and debugging, Er Qiefang using the means of Modularization modeling
The reusability of true mode is good, and after the variation of submarine model, many models may be reused, it is only necessary to change some in model
Parameter.It is logical to carry out the data between hardware and software that industrial general data communication interface agreement is used for another example
Letter, reduces the workload of communication software exploitation, and improves the reliability of system.
Further, the industrial personal computer I/O module (several) 6 include switching input module, switching value output module,
Analog input mModule and analog output module.Switch (multiple) 11, button (multiple) 12 and the valve (multiple)
A part in 18 connect by conducting wire with the switching input module, and the state of switch, button are pressed/lifted
The open and-shut mode of state and valve is transferred to switching input module；The switching value output module passes through conducting wire and indicator light
(multiple) 10 connect, and by some status signal transmissions to indicator light, indicator light is lighted or extinguished according to state value；The valve
Another part in (multiple) 18 is connect by conducting wire with Analog input mModule, and it is defeated that the opening value of valve is transferred to analog quantity
Enter module；The analog output module is connect by conducting wire with display instrument (multiple) 9, by some data transfers to display
Instrument, display instrument show the size of the numerical value received.Also comprising switching, pressing in the on-site control case (multiple) 16
Button, indicator light and display instrument pass through conducting wire and switching input module, switching value output module and analog output mould respectively
Block connection, carries out data signal transmission.
Further, the Simulation Calculation software module 202 contains all subsystems of submarine dynamical system
And the digital simulation model of control logic, it is run under the support of artificial supporting software module 201.The digital simulation model is by leading to
It is established with graphical modeling software by the method for Modularization modeling, mathematics side is established according to the principles of science of system equipment
Journey, and method for solving is designed, its simulation algorithm is realized eventually by computer programming language.
Further, the Simulation Calculation software module 202 had both included the simulation system of half actual load, also comprising complete
Virtual simulation system；By the training management software module 206, half actual load system and the same luck of full virtual system are realized
Row, is trained and checks and rates.
Further, the full virtual system is divided into multiple groups, and the data between group and group are not interfere with each other, respectively independent fortune
Row；By the training management software module 206 and examination software module 207, realize that multiple groups run, train and examine simultaneously
It comments.
The scheme that the present invention uses actual situation to combine, can be by half actual load simulator in conjunction with full virtual analog device advantage
Get up, avoids single form bring insufficient.For example, half actual load simulator is to realization multiple groups while carrying out non-interfering
Training then has to replicate more set hardware systems.In this way, one side hardware cost (cost including construction) has accordingly
Will also there be the increase of corresponding multiple in the increase of multiple, the place on the other hand occupied.And the device for using actual situation to combine, half actual load
Device is only built a set of, the configured in one piece of complete virtual multiple groups is added using one group of half actual load, student can be first on full virtual bench
Preliminary training is carried out, then changes in turn on half COG equipmentCOG and increases practical hands-on and experience the sense of reality, further mention
It is high and consolidate training effect.For another example, since half actual load simulator and full virtual analog device are using identical emulation
Model further increases trained flexibility so the physical training condition data that the two saves can be interchanged.
The beneficial effects of the present invention are: the scheme that the present apparatus uses actual situation to combine, half actual load simulator and complete is combined
The advantages of virtual analog device, can be used for carrying out ship person the training and examination of normal driving and parking operation and troubleshooting, with low
Cost, the operation that ship person is improved under the environment of safety are horizontal.
Detailed description of the invention
Fig. 1 is hardware system composition figure of the invention；
Fig. 2 is software systems composition figure of the invention.
Appended drawing reference:
1- instructor station computer, 2- digital simulation model server computer, the 3- network switch, 4- server machine
Cabinet, 5- industrial personal computer host module, 6- industrial personal computer I/O module (multiple), 7- industrial personal computer module slot, 8- industry control cabinet, 9- display instrument
Table (multiple), 10- indicator light (multiple), 11- switch (multiple), 12- button (multiple), 13- consing computer, 14-
Console, 15- machine side show computer (more), 16- on-site control case (multiple), 17- pipeline (multiple), and 18- valve is (more
It is a), 19- virtual training ship person operates computer (more).
201- artificial supporting software module, 202- Simulation Calculation software module, 203-IO data communication software module,
The acquisition of 204- data and output software module, 205- human interface software module, 206- training management software module, 207- examination
Software module.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.
It is obtained by those of ordinary skill in the art without making creative efforts based on a specific embodiment of the invention
Every other embodiment, belongs to protection scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the present invention.
The present invention will be further described below with reference to the drawings.
As depicted in figs. 1 and 2, the submarine dynamical system simulation training device embodiment that actual situation of the invention combines, including
In-kind simulation hardware system, digital simulation software systems, data communication interface system, training management and examination software system
System.In-kind simulation hardware system mainly includes display instrument (multiple) 9, indicator light (multiple) 10, switch (multiple) 11, button
(multiple) 12, consing computer 13, console 14, machine side show computer (more) 15, on-site control case (multiple)
16, pipeline (multiple) 17, valve (multiple) 18.Digital simulation software systems mainly include artificial supporting software module 201,
Simulation Calculation software module 202, human interface software module 205.Data communication interface system mainly includes industry control owner
Machine module 5, industrial personal computer I/O module (multiple) 6 and industrial personal computer module slot 7, industry control cabinet 8, I/O data communications software modules 203,
Data acquisition and output software module 204.Training management and examination software systems mainly include training management software module 206,
Check and rate software module 207.
Specific technical solution is as follows:
Instructor station computer 1, digital simulation model server computer 2 and the network switch 3 are successively located at service
In device cabinet 4, industrial personal computer host module 5, industrial personal computer I/O module (multiple) 6 and industrial personal computer module slot 7 are successively located at industry control
In cabinet 8, successively by display instrument (multiple) 9, indicator light (multiple) 10, switch (multiple) 11, button (multiple) 12, console
Operation computer 13 is located in console 14, is separately set and is shown computer (more) 15, on-site control case (multiple) 16, pipeline by machine
(multiple) 17, valve (multiple) 18, virtual training ship person operate computer (more) 19.Instructor station computer 1, Digital Simulation
Model server computer 2, industrial personal computer host module 5, consing computer 13, display computer (more) 15 by machine,
Virtual training ship person operates computer (more) 19 and is connect by cable with the network switch 3, industrial personal computer host module 5 and work
Control machine I/O module (multiple) 6 is connect with industrial personal computer module slot 7 by data/address bus, and display instrument (multiple) 9, indicator light are (more
It is a) 10, switch (multiple) 11, button (multiple) 12, on-site control case (multiple) 16, pipeline (multiple) 17, valve (multiple) 18
It is connect by conducting wire with industrial personal computer I/O module (multiple) 6.
Commercial PC machine of the digital simulation model server computer 2 using high operational performance, instructor station calculating
Machine 1, consing computer 13, machine side display computer (more) 15, virtual training ship person operate computer (more) 19
It is all made of common commercial PC machine.
Built-in industrial control machine host module ADAM-5560KW of the industrial personal computer host module 5 using Advantech, work
Control machine I/O module (several) 6 uses switching input module ADAM-5051S, the switching value output module ADAM- of Advantech
5056S, Analog input mModule ADAM-5017P and analog output module ADAM-5024.
A part in the switch (multiple) 11, button (multiple) 12 and valve (multiple) 18, by conducting wire with
The switching input module ADAM-5051S connection, by opening for the state of switch, the pressing of button/lifting status and valve
Closed state is transferred to switching input module；The switching value output module ADAM-5056S is (more by conducting wire and indicator light
It is a) 10 connections, by some status signal transmissions to indicator light, indicator light is lighted or is extinguished according to state value；The valve is (more
It is a) another part in 18 connect with Analog input mModule ADAM-5017P by conducting wire, the opening value of valve is transferred to
Analog input mModule；The analog output module ADAM-5024 is connect by conducting wire with display instrument (multiple) 9, will
For some data transfers to display instrument, display instrument shows the size of the numerical value received.
It also include switch, button, indicator light and display instrument in the on-site control case (multiple) 16, respectively by leading
Line and switching input module ADAM-5051S, switching value output module ADAM-5056S and analog output module ADAM-
5024 connections, carry out data signal transmission.
The input data that data acquisition and output software module 204 acquire is transferred to I/O data communications software modules 203, then
It is transferred to by I/O data communications software modules 203 in the database of artificial supporting software module 201, artificial supporting software module
Output data in 201 database is transferred to I/O data communications software modules 203, then by I/O data communications software modules 203
It is transferred to data acquisition and output software module 204；Simulation Calculation software module 202 and artificial supporting software module 201
Between carry out simulation calculation data two-way communication；Between human interface software module 205 and artificial supporting software module 201 into
The two-way communication of row interface display data and interface operation director data；Training management software module 206 and artificial supporting software
The two-way communication of management data is trained between module 201；Check and rate software module 207 and artificial supporting software module 201 it
Between carry out simulation calculation data and operation data two-way communication.
Artificial supporting software module 201, Simulation Calculation software module 202, I/O data communications software modules 203 are in number
It is run in word simulation model server computer 2；Data acquisition and output software module 204 are transported in industrial personal computer host module 5
Row；Human interface software module 205 shows computer (more) 15, virtual instruction by consing computer 13, machine respectively
Practice and is run in ship person operation computer (more) 19；Training management software module 206 is run in instructor station computer 1；It examines
Software module is commented to operate in computer (more) 19 and run in instructor station computer 1, virtual training ship person respectively.
The artificial supporting software module 201 is using large-scale scientific algorithm and simulation engine software SimuEngine.
The Simulation Calculation software module 202 contains all points of the dynamical system of certain type conventionally powered submarines
The digital simulation model of system and control logic is run under the support of SimuEngine.The digital simulation model is by standard drawing
Shape automatic modeling software SimuBuilder is established by the method for Modularization modeling, according to practical model submarine dynamical system
The principles of science of equipment establishes math equation, and designs method for solving, realizes that its simulation is calculated eventually by computer programming language
Method.
The I/O data communications software modules 203 use and large-scale scientific algorithm and simulation engine software SimuEngine
Matched OPC communication software Simu-OPCClient.The data acquisition and output software module 204 are transported in real time using PLC
Row system ProConOS and its matched communication software ProConOS-OPCServer.Simu-OPCClient and ProConOS-
Data communication is carried out using OPC communication protocol between OPCServer.
The human interface software module 205 uses SimuMMI software, is realized by the api interface of SimuEngine
To with the read-write of data is emulated in artificial supporting software module 201, and realize by picture the display of operation data.Operator
Member carries out control operation by the operation screen that human interface software module 205 provides.
The training management software module 206 uses SimuTeacher software, and the examination software module 207 is adopted
With SimuScorer software.
The present apparatus had both included the simulation system of half actual load, also comprising complete virtual simulation system.Pass through the training pipe
Software module 206 is managed, it can be achieved that half actual load system and full virtual system are run simultaneously, is trained and checks and rates, and it is complete virtually
System can be divided into multiple groups while run, trains and check and rate.In embodiment, 5 groups are divided into, wherein 1 group is half
Actual load simulation system, in addition all complete virtual simulation systems of 4 groups.All groups by 206 unification of training management software module
Management, the data between group and group are not interfere with each other, respective independent operating.
Although a specific embodiment of the invention has been shown and described above, it is to be understood that above-mentioned embodiment party
Formula is exemplary, and is not considered as limiting the invention, and those skilled in the art are not departing from original of the invention
Above-mentioned implementation method can be changed, be modified, replacement and variant within the scope of the invention in the case where reason and objective.This
The protection scope of invention is limited by claims and its equivalent technical solutions.
Claims (5)
1. the submarine dynamical system simulation training device that a kind of actual situation combines, including in-kind simulation hardware system, Digital Simulation mould
Quasi- software systems, data communication interface system, training management and examination four part of software systems, it is characterised in that:
Hardware composition are as follows: successively by instructor station computer (1), digital simulation model server computer (2) and network exchange
Machine (3) is located in server cabinet (4), successively by industrial personal computer host module (5), multiple industrial personal computer I/O modules (6) and industrial personal computer
Module slot (7) is located in industry control cabinet (8), successively by multiple display instruments (9), multiple indicator lights (10), multiple switch
(11), multiple buttons (12), consing computer (13) are located in console (14), are separately set and are shown computer by more machines
(15), multiple on-site control casees (16), multiple pipelines (17), multiple valves (18), more virtual training ship persons operate computer
(19)；Instructor station computer (1), digital simulation model server computer (2), industrial personal computer host module (5), console behaviour
Make computer (13), machine side display computer (15), virtual training ship person operation computer (19) by cable and network friendship
It changes planes (3) connection, industrial personal computer host module (5) and industrial personal computer I/O module (6) pass through data/address bus with industrial personal computer module slot (7)
Connection, display instrument (9), indicator light (10), switch (11), button (12), on-site control case (16), pipeline (17), valve
(18) it is connect by conducting wire with industrial personal computer I/O module (6)；
Data flow are as follows: the input data of data acquisition and output software module (204) acquisition is transferred to I/O data communication software
Module (203), then be transferred in the database of artificial supporting software module (201) by I/O data communications software modules (203), it imitates
Output data in the database of true support programs module (201) is transferred to I/O data communications software modules (203), then by IO number
Data acquisition and output software module (204) are transferred to according to communications software modules (203)；Simulation Calculation software module
(202) two-way communication of simulation calculation data is carried out between artificial supporting software module (201)；Human interface software module
(205) two-way communication of interface display data and interface operation director data is carried out between artificial supporting software module (201)；
The two-way communication of management data is trained between training management software module (206) and artificial supporting software module (201)；It examines
Comment the two-way communication that simulation calculation data and operation data are carried out between software module (207) and artificial supporting software module 201；
Artificial supporting software module (201), Simulation Calculation software module (202), I/O data communications software modules (203) exist
Operation in digital simulation model server computer (2)；Data acquisition and output software module (204) are in industrial personal computer host module
(5) operation in；Human interface software module (205) respectively consing computer (13), display computer (15) by machine,
Virtual training ship person operates operation in computer (19)；Training management software module (206) fortune in instructor station computer (1)
Row；It checks and rates software module and operates operation in computer (19) in instructor station computer (1), virtual training ship person respectively.
2. submarine dynamical system simulation training device according to claim 1, it is characterised in that: multiple industrial personal computers
I/O module (6) includes switching input module, switching value output module, Analog input mModule and analog output module；Institute
The a part in multiple switch (11), multiple buttons (12) and multiple valves (18) stated, passes through conducting wire and the switch
Input module connection is measured, it is defeated that the open and-shut mode of the state of switch, the pressing of button/lifting status and valve is transferred to switching value
Enter module；The switching value output module is connect by conducting wire with indicator light (10), by some status signal transmissions to instruction
Lamp, indicator light are lighted or are extinguished according to state value；Another part in multiple valves (18) passes through conducting wire and analog quantity
Input module connection, is transferred to Analog input mModule for the opening value of valve；The analog output module passes through conducting wire
It is connect with display instrument (9), by some data transfers to display instrument, display instrument shows the numerical value received；Described is more
Include switch, button, indicator light and display instrument in a on-site control case (16), passes through conducting wire and On-off signal mould respectively
Block, switching value output module and analog output module connection, carry out data signal transmission.
3. submarine dynamical system simulation training device according to claim 1, it is characterised in that: the simulation calculation mould
Type software module (202) contains all subsystems of submarine dynamical system and the digital simulation model of control logic, is emulating
It is run under the support of support programs module (201).
4. submarine dynamical system simulation training device according to claim 3, it is characterised in that: the simulation calculation mould
Type software module (202) had both included the simulation system of half actual load, also comprising complete virtual simulation system；Pass through the training pipe
It manages software module (206), realizes that half actual load system and full virtual system are run simultaneously.
5. submarine dynamical system simulation training device according to claim 4, it is characterised in that: the full virtual system
It is divided into multiple groups, the data between group and group are not interfere with each other, respective independent operating；Pass through the training management software module
(206) it runs, train and checks and rates simultaneously with examination software module (207), realization multiple groups.
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