CN111532395A - Intelligent ship host and hardware-in-loop test system and method for control system of intelligent ship host - Google Patents
Intelligent ship host and hardware-in-loop test system and method for control system of intelligent ship host Download PDFInfo
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- CN111532395A CN111532395A CN202010421364.2A CN202010421364A CN111532395A CN 111532395 A CN111532395 A CN 111532395A CN 202010421364 A CN202010421364 A CN 202010421364A CN 111532395 A CN111532395 A CN 111532395A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
- B63B71/10—Designing vessels; Predicting their performance using computer simulation, e.g. finite element method [FEM] or computational fluid dynamics [CFD]
Abstract
The invention belongs to the technical field of intelligent ships, and particularly relates to an intelligent ship host and a hardware-in-loop test system and method of a control system of the intelligent ship host. The system comprises: the environment simulation device is used for installing the intelligent ship host and the control system thereof and generating operating environments with different temperatures and humidity; an operation support device for providing operation support for the intelligent ship host; the data acquisition device is used for acquiring power parameter information and operation parameter information; and the data processing device is used for obtaining the test result of the intelligent ship host and the control system thereof by data inspection of the information data to be processed based on the prestored expert control information. The system can accurately test the performance of the host and the control system thereof, thereby determining whether the selected host and the control system thereof are suitable for the navigation condition of the intelligent ship at the early stage of the design of the intelligent ship, providing basis for the design of the ship and avoiding the loss caused by replacement when the host and the control system thereof do not meet the requirements.
Description
Technical Field
The invention belongs to the technical field of intelligent ships, and particularly relates to an intelligent ship host and a hardware-in-loop test system and method of a control system of the intelligent ship host.
Background
With the development of science and technology, the intelligent ship technology also comes with a rapid development period. In the intelligent ship, a host and a control system thereof are of great importance, because whether the host can normally operate and provide power for the intelligent ship is a determining factor for whether the intelligent ship can normally complete a navigation task. Therefore, whether the selected host and the control system thereof are suitable for the navigation condition of the intelligent ship needs to be tested during the design of the intelligent ship. In order to meet the test requirements of the host and the control system thereof in ship design, a perfect test system needs to be established for the host and the control system of the intelligent ship, the performance of the host and the control system thereof is accurately tested, a basis is provided for ship design, and unnecessary loss caused by replacement because the host and the control system thereof cannot meet the navigation requirement of the intelligent ship is avoided.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and deficiencies of the prior art, the present application provides a hardware-in-the-loop test system and method for a host computer of an intelligent ship and a control system thereof, which solves the problem that a perfect test system needs to be established for the host computer and the control system of the intelligent ship in the existing ship design, so as to accurately test the performance of the host computer and the control system thereof.
(II) technical scheme
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides an intelligent ship host and a hardware-in-the-loop test system for a control system thereof, where the system includes:
the environment simulation device is used for installing an intelligent ship host and a host control system, simulating the navigation state of an intelligent ship based on the control information of the host control system, and generating operating environments with different temperatures and humidity for the intelligent ship host and the host control system;
the operation support device is connected with the intelligent ship host and the host control system and used for providing operation support for the intelligent ship host under the control of the host control system;
the data acquisition device comprises sensors arranged on the operation support device and the intelligent ship host, and is used for acquiring the power parameter information of the intelligent ship host and the operation parameter information of the operation support device;
and the data processing device is used for acquiring the power parameter information and the operation parameter information from the data acquisition device, taking the power parameter information and the operation parameter information as information data to be processed, and performing data inspection on the information data to be processed based on prestored expert control information to obtain test results of the intelligent ship host and the host control system.
Optionally, the control information executed by the host control system is generated based on a smart ship decision algorithm.
Optionally, the navigation state of the smart vessel comprises a yawing, pitching, rolling, surging, swaying, heaving state.
Optionally, the operation support means comprises an oil supply unit, a water supply unit and a power supply unit.
Optionally, the power parameter information includes host torque information and host rotational speed information.
Optionally, the operation parameter information includes fresh water outlet temperature information, fresh water inlet pressure information, seawater inlet air cooler temperature information, seawater inlet air cooler pressure information, oil inlet filter temperature information, oil inlet filter pressure information, oil inlet supercharger pressure information, fuel inlet temperature information, fuel inlet supercharger pressure information, supercharger air temperature information, supercharger air pressure information, supercharger rotation speed information, and start air pressure information.
In a second aspect, an embodiment of the present invention provides an intelligent ship host and a hardware-in-loop test method for a control system thereof, where the method includes:
generating working operation environments with different temperatures and humidities for the intelligent ship host and the host control system through an environment simulation device;
the intelligent ship host and the host control system operate under the support of an operation support device;
simulating the navigation state of the intelligent ship through an environment simulation device based on the control information of the host control system;
acquiring power parameter information of the intelligent ship host and operation parameter information of the operation supporting device in operation through a sensor;
and taking the power parameter information and the operation parameter information as information data to be processed, and performing data inspection on the information data to be processed based on prestored expert control information to obtain test results of the intelligent ship host and the host control system.
Optionally, the power parameter information comprises a host torque information and a host rotational speed information.
Optionally, the operation parameter information includes fresh water outlet temperature information, fresh water inlet pressure information, seawater inlet air cooler temperature information, seawater inlet air cooler pressure information, oil inlet filter temperature information, oil inlet filter pressure information, oil inlet supercharger pressure information, fuel inlet temperature information, fuel inlet supercharger pressure information, supercharger air temperature information, supercharger air pressure information, supercharger rotation speed information, and starting air pressure information.
Optionally, based on prestored expert control information, the data of the information to be processed is subjected to data inspection to obtain test results of the intelligent ship host and the host control system, and the test results include:
checking whether the information data to be processed accords with normal distribution or not by a K-S (K-S) checking method;
if the to-be-processed information data are in accordance with normal distribution, carrying out T test on the to-be-processed information data based on prestored expert control information, and taking a test result as a test result of the intelligent ship host and the host control system;
and if the information data to be processed does not conform to normal distribution, performing rank sum test on the information data to be processed based on prestored expert control information, and taking a test result as a test result of the intelligent ship host and the host control system.
(III) advantageous effects
The invention has the beneficial effects that: by using the intelligent ship host and the control system hardware-in-the-loop test system thereof, various environmental conditions possibly encountered in the normal navigation process of the intelligent ship can be simulated in a laboratory, and the intelligent ship host and the control system thereof are subjected to system-complete test. The invention analyzes the test data in detail by using K-S test, T test and rank sum test, and provides a corresponding test result according to the analysis result, so that the test result is more objective and more credible. Therefore, the hardware-in-loop test system accurately tests the performance of the host and the control system thereof, can determine whether the selected host and the control system thereof are suitable for the navigation condition of the intelligent ship at the early stage of the design of the intelligent ship, provides basis for the design of the ship, and avoids unnecessary loss caused by replacement because the host and the control system thereof cannot meet the navigation requirement of the intelligent ship.
Drawings
The application is described with the aid of the following figures:
fig. 1 is a schematic structural diagram of an intelligent ship host and a hardware-in-the-loop test system of a control system thereof according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a data inspection process of information data to be processed according to an embodiment of the present application;
fig. 3 is a hardware structure diagram of an intelligent ship host and a control system hardware thereof in a ring test system according to another embodiment of the present application.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Aiming at the problem that a complete test system needs to be established for a host and a control system of an intelligent ship in the existing ship design and the host and the control system thereof are accurately tested, the embodiment of the invention provides a hardware-in-the-loop test system for the host and the control system of the intelligent ship. The intelligent ship host and the hardware-in-the-loop test system of the control system of the intelligent ship host comprise the following devices:
the environment simulation device is used for installing the intelligent ship host and the host control system, simulating the navigation state of the intelligent ship based on the control information of the host control system, and generating operating environments with different temperatures and humidity for the intelligent ship host and the host control system;
the operation support device is connected with the intelligent ship host and the host control system and used for providing operation support for the intelligent ship host under the control of the host control system;
the data acquisition device comprises sensors arranged on the operation support device and the intelligent ship host, and is used for acquiring the power parameter information of the intelligent ship host and the operation parameter information of the operation support device;
and the data processing device is used for acquiring the power parameter information and the operation parameter information from the data acquisition device, taking the power parameter information and the operation parameter information as information data to be processed, and carrying out data inspection on the information data to be processed based on prestored expert control information to obtain a test result of the intelligent ship host and the host control system.
By using the intelligent ship host and the control system hardware-in-the-loop test system thereof, various environmental conditions possibly encountered in the normal navigation process of the intelligent ship can be simulated in a laboratory, and the intelligent ship host and the control system thereof are subjected to system-complete test. The invention analyzes the test data in detail by using K-S test, T test and rank sum test, and provides a corresponding test result according to the analysis result, so that the test result is more objective and more credible. By the hardware-in-loop test system, whether the selected host and the control system thereof are suitable for the navigation condition of the intelligent ship can be determined at the early stage of the design of the intelligent ship, so that unnecessary cost caused by the fact that the host and the control system thereof cannot meet the navigation requirement of the intelligent ship and need to be replaced is avoided.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
For a better understanding of the present invention, the following description is made in detail with respect to a smart ship host and a control system thereof tested in one embodiment of the present invention.
The intelligent ship host is a main power device of a ship, provides power required by navigation for the ship, is a heart of the whole ship, is the most important part in ship power equipment, and mainly comprises: marine main engine, transmission, shafting and propeller.
One common name for an engine capable of generating marine propulsion power for a marine vessel's main engine includes various pumps and heat exchangers, piping, etc. that serve the main engine. The main engine of the commercial ship is mainly a ship diesel engine, and the secondary engine is a steam turbine. Meanwhile, the system also comprises a nuclear power host machine which takes nuclear energy as driving force and an electric host machine which takes electric energy as driving force.
The transmission device transmits the power of the main machine to the equipment of the propeller, not only transmits the power, but also plays the roles of speed reduction and shock absorption, and the boat can also change the rotating direction of the propeller by using the transmission device. The transmission equipment is slightly different due to different host machine types, and generally comprises a speed reducer, a clutch, a coupler, a coupling, a thrust bearing, a ship shaft and the like.
The ship propellers are most widely applied, and the fixed pitch or the adjustable pitch propeller propellers are mostly adopted; the ship shafting is a device for transmitting power generated by the main engine to the propeller. The ship main engine drives the propeller to rotate through the transmission device and the shafting to generate thrust, and overcomes the resistance of the ship body to enable the ship to advance or retreat.
Fig. 1 is a schematic structural diagram of an intelligent ship host and a hardware-in-the-loop test system of a control system thereof according to an embodiment of the present application. In order to more clearly illustrate the present invention, the following description of the embodiments of the present invention will be made in detail with reference to fig. 1.
As shown in fig. 1, the intelligent ship host and its control system hardware-in-the-loop test system includes the following devices:
and the environment simulation device is used for installing the intelligent ship host and the host control system, simulating the navigation state of the intelligent ship based on the control information of the host control system, and generating operating environments with different temperatures and humidity for the intelligent ship host and the host control system.
Optionally, the hardware-in-loop test system may be placed in a laboratory, and corresponding test environments may be established for the host and the control device thereof by using devices such as a humidifier, a heating device, a ventilator, and a refrigeration device, according to a humid environment (rain and fog weather), a dry environment (fine and hot weather), and the like that may occur during a normal sailing process of the intelligent ship, so as to perform tests in a working environment of high humidity, dryness, high temperature, and coldness that may be encountered during the sailing process of the intelligent ship host and the control device thereof.
In particular, in one embodiment, the control information executed by the host control system may be generated based on a smart vessel decision algorithm.
Optionally, the smart vessel decision algorithm runs in a front-end decision system. The hardware part of the front-end decision system is mainly a computer, and an intelligent ship decision algorithm is carried in the front-end decision system. The decision algorithm can make a decision about the navigation of the intelligent ship according to the running state of the ship in the navigation process of the intelligent ship and data information acquired by each sensor in the actual use of the intelligent ship, and is the brain of the navigation of the intelligent ship. The decision algorithm adopted in the embodiment is an expert control algorithm in the field of automatic control, and the main core control method of the algorithm still utilizes a PID algorithm to control the algorithm, namely, proportion, integral and differential. The control method is divided into nonlinear control or discrete control from linear control in different states, the control value output by the controller is compared with the output data of each controller of experienced drivers in the same state, if the two data are close or completely equal, the control method is judged to be suitable for navigation conditions, wherein the condition that the data are close is established according to ship actuators, and the theoretical value can be accurate to about ninety-five percent. In the hardware-in-the-loop test system of the embodiment, the decision system is utilized at the front end of the test system to give a control instruction required in the normal sailing process of the intelligent ship, the decision instruction is transmitted to the intelligent ship host and the control system thereof through ethernet communication, and the intelligent ship host and the control system thereof perform corresponding control execution on the decision instruction.
Optionally, in one embodiment, the smart vessel navigational state may include a yaw, pitch, roll, heave state.
And the operation support device is connected with the intelligent ship host and the host control system and used for providing operation support for the intelligent ship host under the control of the host control system.
The operation supporting device refers to equipment such as a piping system and a power supply which are necessary for the normal operation of the intelligent ship host and the control system thereof.
Specifically, in one embodiment, the operation support device may include an oil supply unit, a water supply unit, and a power supply unit.
The data acquisition device comprises sensors arranged on the operation support device and the intelligent ship host, and is used for acquiring the power parameter information of the intelligent ship host and the operation parameter information of the operation support device.
Specifically, in one embodiment, the power parameter information may include host torque information and host rotational speed information.
Specifically, in one embodiment, the operation parameter information may include temperature information and pressure information, specifically, fresh water outlet temperature information, fresh water inlet pressure information, seawater inlet air cooler temperature information, seawater inlet air cooler pressure information, lubricant inlet filter temperature information, lubricant inlet filter pressure information, lubricant inlet supercharger pressure information, fuel inlet temperature information, fuel inlet supercharger pressure information, supercharger air temperature information, supercharger air pressure information, supercharger rotation speed information, and start air pressure information.
The intelligent ship host comprises a machine body, a crank connecting rod mechanism, a gas distribution mechanism, a fuel supply system, a lubricating system, a cooling system and an electric appliance. Wherein, the fresh water enters into the main engine, and the seawater is cooled in the external circulating pipe; the lubricating oil is main engine lubricating oil and is used for improving the mechanical performance of a main engine. The fuel temperature is generally 100-115 ℃, the fuel temperature reaching the standard plays a decisive role in the operating efficiency of the host, and the fuel pressure can catalyze the fuel to detonate in the cylinder when reaching a certain value, so that kinetic energy is provided for the host, the operating state of the host can be monitored in real time by acquiring the information in a test system, and the performance of the host can be evaluated more accurately.
And the data processing device is used for acquiring the power parameter information and the operation parameter information from the data acquisition device, taking the power parameter information and the operation parameter information as information data to be processed, and carrying out data inspection on the information data to be processed based on prestored expert control information to obtain a test result of the intelligent ship host and the host control system.
Specifically, in one embodiment, based on the prestored expert control information, the test result of the intelligent ship host and the host control system is obtained by data inspection of the information data to be processed, and the method includes the following steps:
step S1, checking whether the information data to be processed accords with normal distribution through a K-S checking method;
step S2, if the information data to be processed accords with normal distribution, carrying out T test on the information data to be processed, and taking a test result as a test result of the intelligent ship host and the host control system; and if the information data to be processed does not conform to normal distribution, performing rank sum test on the information data to be processed, and taking a test result as a test result of the intelligent ship host and the host control system.
Fig. 2 is a schematic diagram of a data verification process of information data to be processed according to an embodiment of the present application. As shown in fig. 2, hardware-in-the-loop test data is obtained by reading data collected by each sensor. Performing normal distribution test on the obtained test data by using a K-S test method, and further performing T test on the test data if the test data is judged to be in accordance with the normal distribution; and if the tested data are judged not to conform to the normal distribution, further carrying out rank sum test on the tested data.
After the T test is carried out, the condition that the intelligent ship host and the control system thereof execute the control instruction in the test scene can be judged according to the result of the T test, and then whether the host and the control system thereof meet the actual use requirement of the intelligent ship can be judged, so that the test result is obtained.
After the rank and the inspection are carried out, the situation that the intelligent ship host and the control system thereof execute the control command under the test scene can be judged according to the rank and the inspection result, and then whether the host and the control system thereof meet the actual use requirement of the intelligent ship can be judged, so that the test result is obtained.
It should be noted that the standard data for T test and rank and inspection is data of the host collected by the ship driver who is experienced when operating the ship host. In this embodiment, corresponding data are acquired for ship lateral thrusting to perform inspection.
The following describes the K-S test method for testing whether the information data to be processed conforms to the normal distribution.
The test significance level α was chosen, in this example α is 0.05, i.e. a 95% confidence interval.
The assumption is made that:
H0f (x) g (x), i.e. assuming that the information data to be processed conforms to normal distribution;
H1f (x) not equal to G (x), i.e., the information data to be processed is assumed not to conform to the normal distribution.
Wherein F (x) represents a cumulative frequency function of the samples, and G (x) represents a normal distribution function.
And determining a sample m according to the test data, and determining a sample n according to a function conforming to normal distribution.
Determination of H0The rejection region of (1): dm,n＞Dm,n,α。
Wherein D ism,nIs the maximum difference between F (x) and G (x), Dm,n,αIs Dm,nA rejected threshold value.
The significance level α and confidence interval can be obtained according to equation (1):
calculating D from the samples m, nm,nIf: dm,n＞Dm,n,αThen refuse H0(i.e., the data examined does not fit a normal distribution), otherwise H is accepted0(i.e., the data to be tested conforms to a normal distribution).
The following description of the T-test on the information data to be processed is provided.
The test significance level α was chosen, in this example α is 0.05, i.e. a 95% confidence interval.
The assumption is made that:
H0:μ1＝μ2the data of the two samples have no significant difference, that is, the data of the intelligent ship side-pushing in the automatic control state and the data of the intelligent ship side-pushing in the experienced driver driving state have no significant difference, which indicates that the test result is good.
H1:μ1≠μ2That is, the data of the two samples have significant difference, that is, the data of the intelligent ship side-thrust under the automatic control state and the data of the intelligent ship side-thrust under the experienced driver driving state have significant difference, which indicates the state of the intelligent ship side-thrust under the control of the intelligent navigation systemStates do not meet good standards.
Wherein, mu1Means of sample mean, μ, for determination of test number2And (4) determining a sample mean value by representing various data of the lateral thrust collected under the driving state of the experienced driver.
And determining a sample X according to the test data, and determining a sample Y according to the data of each lateral thrust item collected under the driving state of the experienced driver. The total number of samples X is n and the variance is
Mean value of μ1(ii) a Total number of samples Y is m, variance is
Mean value of μ2。
And determining an acceptance domain and a rejection domain. The t statistic is calculated according to equation (2).
Wherein S iswIs the sample global variance, S1And S2The sample variances of X and Y respectively,
are the mean of two groups of samples, respectively.
When H is present0When the result is true, the user can select the specific key,
for a given significance level α, look up the t distribution table for tα/2(n1+n2-2), with P { | t | > t { |)α/2(n1+n2-2)}＝α
Calculating an observed value of t from the sample values
If t0|＞tα/2(n1+n2-2), then H is rejected0Receiving H1The data of the two samples have significant difference, that is, the data of the intelligent ship side thrust under the automatic control state and the data of the intelligent ship side thrust under the experienced driver driving state have significant difference, which indicates that the state of the intelligent ship side thrust under the control of the intelligent navigation system does not reach a good standard; if t0|≤tα/2(n1+n2-2), then H is accepted0The data of the two samples have no significant difference, that is, the data of the intelligent ship side-pushing in the automatic control state and the data of the intelligent ship side-pushing in the experienced driver driving state have no significant difference, which indicates that the test result is good.
The following description of rank and check on information data to be processed is provided.
Setting a sample: x1,X2,…,Xm；Y1,Y2,…,YnSamples from the population F (x) and G (x), F (x) is the distribution function of the test data sample, G (x) is the distribution function of the parameter data collected under the control state of the experienced driver, F (x) and G (x) are unknown, and the hypothesis to be tested is that whether the two samples are consistent or not:
H0f (x) ═ g (x), that is, the data of the two samples have no significant difference, that is, the data of the intelligent ship side-pushing in the automatic control state and the data of the intelligent ship side-pushing in the experienced driver driving state have no significant difference, which indicates that the test result is good;
H1f (x) is not equal to G (x), namely, the data of the two samples have significance difference, namely, the significance difference exists between each item of data of the intelligent ship side thrust under the automatic control state and each item of data of the intelligent ship side thrust under the driving state of an experienced driver, and the situation that the state of the intelligent ship side thrust under the control of the intelligent navigation system does not reach a good standard is shown.
The basic idea of the rank sum test method is as follows: m + n viewsThe measured values are mixed and arranged in order, X being denoted by T1,X2… Xm is in the sum of samples X1,X2,…,Xm；Y1,Y2,…,YnThe sum of ranks in (1) is shown in formula (4):
if H is present0If m is not too large, the value of T is moderate, if T is large or small, H is negated0。
The calculation steps are as follows:
(a) the assumption is made that:
H0f (x) ═ g (x), that is, there is no significant difference between the data of the two samples, that is, there is no significant difference between the data of the smart ship side propulsion in the automatic control state and the data of the smart ship side propulsion in the experienced driver driving state, which indicates that the test result is good.
H1F (x) is not equal to G (x), namely, the data of the two samples have significance difference, namely, the significance difference exists between each item of data of the intelligent ship side thrust under the automatic control state and each item of data of the intelligent ship side thrust under the driving state of an experienced driver, and the situation that the state of the intelligent ship side thrust under the control of the intelligent navigation system does not reach a good standard is shown.
(b) Given the significance level α, α is 0.05 in this example, the single sample capacities are m and n, respectively, and the combined sample capacity is m + n.
(c)H0The reject domain of (a) is: t < r1Or: t > r2. Wherein r is1Is the lower limit of T, r2Is the upper limit of T.
By
Determining r1,r2。
(d) Determining X from the given sample values according to equation (4)1,X2,…XmIn order of (1).
If r1≤T≤r2Then receive H0The data of the two samples have no significant difference, namely, the data of the intelligent ship side propulsion in the automatic control state and the data of the intelligent ship side propulsion in the experienced driver driving state have no significant difference, which indicates that the test result is good; otherwise, rejecting H0The data of the two samples have significant difference, that is, the data of the intelligent ship side-pushing in the automatic control state and the data of the intelligent ship side-pushing in the experienced driver driving state have significant difference, which indicates that the state of the intelligent ship side-pushing in the intelligent navigation system control does not reach a good standard.
Fig. 3 is a hardware structure diagram of an intelligent ship host and a control system hardware thereof in a ring test system according to another embodiment of the present application. In order to more clearly illustrate the present invention, the following description of the embodiments is provided with reference to fig. 3.
The hardware-in-the-loop test system hardware part of the intelligent ship host and the control system thereof in the embodiment consists of a movable platform, an oil supply system, a power supply system, a water supply system and a data acquisition device.
The movable platform in the embodiment refers to a platform installed on a host machine of an intelligent ship and a control system of the host machine, and a hydraulic device is arranged below the platform and can control the movable platform to incline and move up and down in various directions, so that the states of yawing, pitching, rolling and heaving which may occur in the actual navigation process of the intelligent ship are simulated. Meanwhile, the vibration state of the intelligent ship in the normal navigation process can be simulated by controlling the up-and-down movement frequency and amplitude of the movable platform.
The power supply system in the embodiment comprises a direct-current power supply, an alternating-current power supply and a transformer, and is used for supplying power to the intelligent ship host and the power supply part required by the control system of the intelligent ship host, so that the intelligent ship host and the control system of the intelligent ship host can have normal working conditions. The power supply system is also used for supplying power to parts of the intelligent ship hardware in the loop test system, such as each sensor, the decision module and the like which need to use electric energy, so that the normal work of the intelligent ship hardware is ensured, the accuracy of test acquisition data is further ensured, and a correct test result is obtained.
The oil supply system in the embodiment mainly comprises an oil supply pipeline, an oil supply pump, an oil supply valve and the like, and is mainly used for providing fuel oil, lubricating oil and the like required by work for the intelligent ship host.
The water supply system in this embodiment mainly comprises a seawater supply pipeline, a fresh water supply pipeline, a seawater supply pump, a fresh water supply pump, a seawater supply valve, and a fresh water supply valve, and is mainly used for supplying fresh water and seawater (seawater is mainly used for cooling) required for the operation of the smart ship host.
In this embodiment, the data collection device is composed of a fresh water outlet temperature sensor, a fresh water inlet pressure sensor, a seawater inlet air cooler temperature sensor, a seawater inlet air cooler pressure sensor, a lubricating oil inlet filter temperature sensor, a lubricating oil inlet filter pressure sensor, a lubricating oil inlet supercharger pressure sensor, a fuel oil inlet temperature sensor, a fuel oil inlet pressure sensor, a supercharger air temperature sensor, a supercharger air pressure sensor, a supercharger rotation speed sensor, a starting air pressure sensor, a host rotation speed sensor, and a host output torque sensor. The sensors for detecting the temperature and pressure of the seawater and the fresh water can be arranged in the cooling circulation pipeline, and the sensors for detecting the temperature and pressure of the lubricating oil and the fuel oil can be respectively arranged in the lubricating oil chamber and the internal combustion chamber.
In summary, by using the intelligent ship host and the control system hardware-in-the-loop test system thereof, various environmental conditions which may be encountered during the normal navigation process of the intelligent ship can be simulated in a laboratory, and the intelligent ship host and the control system thereof are subjected to system-complete tests. By using the K-S test, the T test and the rank sum test, the test data is analyzed in detail, and a corresponding test result is given according to the analysis result, so that the test result is more objective and credible. Through the hardware-in-the-loop test system, whether the selected host and the control system thereof are suitable for the navigation condition of the intelligent ship can be determined at the early stage of the design of the intelligent ship, so that unnecessary cost caused by the fact that the host and the control system thereof cannot meet the navigation requirement of the intelligent ship and need to be replaced is avoided.
It should be noted that the hardware-in-the-loop test system for the smart ship host and the control system thereof according to this embodiment may be used to test the performance of different smart ship hosts under the same control system, may also be used to test the performance of different control systems under the same smart ship host, and may also test the performance of the smart ship host and the control system thereof at the same time.
In a second aspect, an embodiment of the present invention provides an intelligent ship host and a hardware-in-loop test method for a control system thereof, where the method includes:
generating working operation environments with different temperatures and humidities for the intelligent ship host and the host control system through an environment simulation device;
the intelligent ship host and the host control system operate under the support of the operation support device;
simulating the navigation state of the intelligent ship through an environment simulation device based on the control information of the host control system;
acquiring power parameter information of an intelligent ship host and operation parameter information of an operation support device in operation through a sensor;
and taking the power parameter information and the operation parameter information as information data to be processed, and carrying out data inspection on the information data to be processed based on prestored expert control information to obtain the test results of the intelligent ship host and the host control system.
For a description of the second aspect and various implementations thereof in this application, reference may be made to the detailed description of the first aspect and various implementations thereof; moreover, for the beneficial effects of the second aspect and various implementation manners thereof, reference may be made to beneficial effect analysis in the first aspect and various implementation manners thereof, which is not described herein again.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (10)
1. An intelligent ship host and a hardware-in-loop test system of a control system of the intelligent ship host are characterized by comprising:
the environment simulation device is used for installing an intelligent ship host and a host control system, simulating the navigation state of an intelligent ship based on the control information of the host control system, and generating operating environments with different temperatures and humidity for the intelligent ship host and the host control system;
the operation support device is connected with the intelligent ship host and the host control system and used for providing operation support for the intelligent ship host under the control of the host control system;
the data acquisition device comprises sensors arranged on the operation support device and the intelligent ship host, and is used for acquiring the power parameter information of the intelligent ship host and the operation parameter information of the operation support device;
and the data processing device is used for acquiring the power parameter information and the operation parameter information from the data acquisition device, taking the power parameter information and the operation parameter information as information data to be processed, and performing data inspection on the information data to be processed based on prestored expert control information to obtain test results of the intelligent ship host and the host control system.
2. The intelligent marine vessel host and control system hardware-in-the-loop test system of claim 1, wherein the control information executed by the host control system is generated based on a smart vessel decision algorithm.
3. The smart ship host and control system hardware-in-the-loop test system of claim 1, wherein the smart ship sailing state comprises a yawing, a pitching, a rolling, a surging, a swaying, and a heaving state.
4. The smart marine vessel host and the control system hardware-in-the-loop test system thereof according to claim 1, wherein the operation support means includes an oil supply unit, a water supply unit, and a power supply unit.
5. The intelligent marine vessel host and control system hardware-in-the-loop test system of claim 1, wherein the dynamic parameter information comprises host torque information and host rotational speed information.
6. The intelligent marine main engine and control system hardware-in-the-loop test system of claim 1, wherein the operational parameter information comprises fresh water outlet temperature information, fresh water inlet pressure information, seawater inlet air cooler temperature information, seawater inlet air cooler pressure information, oil inlet filter temperature information, oil inlet filter pressure information, oil inlet booster pressure information, fuel inlet temperature information, fuel inlet pressure information, booster air temperature information, booster air pressure information, booster rotation speed information, and start air pressure information.
7. An intelligent ship host and a hardware-in-loop test method of a control system of the intelligent ship host are characterized by comprising the following steps:
generating working operation environments with different temperatures and humidities for the intelligent ship host and the host control system through an environment simulation device;
the intelligent ship host and the host control system operate under the support of an operation support device;
simulating the navigation state of the intelligent ship through an environment simulation device based on the control information of the host control system;
acquiring power parameter information of the intelligent ship host and operation parameter information of the operation supporting device in operation through a sensor;
and taking the power parameter information and the operation parameter information as information data to be processed, and performing data inspection on the information data to be processed based on prestored expert control information to obtain test results of the intelligent ship host and the host control system.
8. The intelligent marine vessel host and control system hardware-in-loop testing method of claim 7, wherein the power parameter information comprises host torque information and host rotational speed information.
9. The intelligent marine host and the hardware-in-the-loop test method for the control system thereof according to claim 7, wherein the operation parameter information comprises fresh water outlet temperature information, fresh water inlet pressure information, seawater inlet air cooler temperature information, seawater inlet air cooler pressure information, oil inlet filter temperature information, oil inlet filter pressure information, oil inlet supercharger pressure information, fuel inlet temperature information, fuel inlet supercharger pressure information, supercharger air temperature information, supercharger air pressure information, supercharger rotation speed information, and start air pressure information.
10. The hardware-in-loop testing method for the intelligent ship host and the control system thereof according to any one of claims 7 to 9, wherein the testing results of the intelligent ship host and the host control system are obtained by performing data verification on the information data to be processed based on pre-stored expert control information, and the method comprises the following steps:
checking whether the information data to be processed accords with normal distribution or not by a K-S (K-S) checking method;
if the to-be-processed information data are in accordance with normal distribution, carrying out T test on the to-be-processed information data based on prestored expert control information, and taking a test result as a test result of the intelligent ship host and the host control system;
and if the information data to be processed does not conform to normal distribution, performing rank sum test on the information data to be processed based on prestored expert control information, and taking a test result as a test result of the intelligent ship host and the host control system.
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