CN112678127A - System and method for testing marine dynamic performance of automatic steering instrument - Google Patents
System and method for testing marine dynamic performance of automatic steering instrument Download PDFInfo
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- CN112678127A CN112678127A CN202110024063.0A CN202110024063A CN112678127A CN 112678127 A CN112678127 A CN 112678127A CN 202110024063 A CN202110024063 A CN 202110024063A CN 112678127 A CN112678127 A CN 112678127A
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Abstract
The invention relates to a system and a method for testing the marine dynamic performance of an automatic steering instrument, wherein the testing system comprises an information acquisition device and a data processing device, the information acquisition device is connected with the automatic steering instrument, a ship positioning system, a compass, a meteorological instrument, a log, a host and an oil tank liquid level instrument and acquires the navigation dynamic information of the equipment, the navigation dynamic information acquired by the information acquisition device is sent to the data processing device, the data processing device calculates the steering precision, the course keeping precision, the track keeping precision and the oil consumption information of a ship to a navigation database according to the information acquired by the information acquisition device, and the dynamic control quality and the navigation economy of the automatic steering instrument in automatic course control or automatic track control are tested. The invention can provide a test data base for improving the control precision of the automatic steering instrument, reducing the energy consumption of the voyage number and perfecting the maturity of the automatic steering instrument product, and improves the technical level, equipment reliability and product maturity of the automatic steering instrument.
Description
Technical Field
The invention belongs to the technical field of ship control, and particularly relates to a system and a method for testing marine dynamic performance of an automatic steering instrument.
Background
China has certain technology accumulation and equipment foundation in the aspect of ship control equipment, and some domestic automatic steering instrument products are available in the market. However, the existing domestic steering device has low competitiveness and market share, and particularly domestic automatic steering device products in the market field of control equipment of large ships and ocean vessels are difficult to break through. The domestic automatic steering device has a gap compared with the international advanced level, and particularly has an obvious gap in the aspect of marine dynamic performance, so that the marine dynamic performance test of the automatic steering device is carried out, and the overall technical level and the product maturity of the domestic automatic steering device are promoted.
During the navigation of a ship, an automatic steering device serving as a ship control core device needs to quickly respond to various possible situations, and is therefore relevant to navigation safety. In the automatic working mode, the automatic steering instrument automatically resolves according to the course instruction to operate and control the ship, and the control level of the steering times and the steering amount is directly related to the energy consumption economy of the ship according to the output steering instruction. The current domestic automatic steering device can meet the requirements related to the international standard IEC11674 and has little gap with foreign products in the aspects of static functions and performance. The dynamic performance of the automatic steering instrument on the actual ship sea, particularly the dynamic performance under severe sea conditions and the energy consumption economy during automatic navigation control of the ship cannot be completely shown by performing an analog simulation dynamic test of the automatic steering instrument in a laboratory. Therefore, the real-ship marine test needs to be carried out in combination with the actual navigation requirement, marine dynamic control parameters of the automatic steering instrument are recorded, the automatic steering precision under severe sea conditions is improved, the energy consumption is reduced, the technical maturity of products is improved, and the problem of the 'last kilometer' in the application and popularization of the domestic ship core control equipment is really solved.
Through retrieval, no dynamic test technical standard and evaluation method aiming at the automatic steering device are found.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a system and a method for testing marine dynamic performance of an automatic steering instrument, which can effectively improve the technical level, equipment reliability and product maturity of the automatic steering instrument.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the information acquisition device is connected with the automatic steering instrument, a shipboard positioning system, a compass, a weather instrument, a log, a host and an oil tank liquid level instrument and acquires navigation dynamic information of the equipment, the information acquired by the information acquisition device is sent to the data processing device, the data processing device calculates steering precision, course keeping precision, track keeping precision and oil consumption information of a ship to a navigation database according to the navigation dynamic information acquired by the information acquisition device, and the dynamic control quality and navigation economy of the automatic steering instrument under automatic course control or automatic track control are tested.
The information collected by the information collection device comprises: the control command information and the steering angle information from the automatic steering instrument, the ship position information from a ship positioning system, the ship heading information from the compass, the wind speed and wind direction information from the weather instrument, the water aligning speed information from the log and the data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument.
A test method of a test system for marine dynamic performance of an automatic steering instrument comprises the following steps:
step 1, connecting an information acquisition device and a data processing device with an automatic steering instrument, a ship positioning system, a compass, a meteorological instrument, a log, a host and an oil tank level instrument, setting navigation parameters when a ship starts to navigate, switching the automatic steering instrument to a course control mode or a track control mode, and continuously recording dynamic instructions of the automatic steering instrument in the navigation;
step 2, the information acquisition device acquires the steering command information and the steering angle information from the automatic steering instrument, the ship position information from a ship positioning system, the ship heading information from the compass, the wind speed and wind direction information from the weather instrument, the water aligning speed information from the log and the data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument;
step 3, the data processing device controls dynamic information to a test database according to the collected information, the statistical analysis of the steering precision, the course maintaining precision, the track maintaining precision and the voyage fuel consumption information of the automatic steering instrument until the whole voyage is finished;
step 4, the data processing device draws two curves of the instruction course and the ship heading H by taking the time T as a horizontal axis and taking the ship heading H as a vertical axis to generate a test record;
and 5, replacing the automatic steering instrument or adjusting the control parameters of the automatic steering instrument, sailing again according to the steering control instruction, recording relevant information, recording the dynamic parameters of the automatic steering instrument for many times, carrying out comparative analysis on the test records of the sailing for many times, and analyzing and optimizing the control parameters of the automatic steering instrument under various dynamic conditions.
The invention has the advantages and positive effects that:
1. according to the typical working mode of the automatic steering instrument and the ship control demand characteristics, the dynamic control characteristics of the automatic steering instrument under the combined action of multiple factors (sea condition, wind direction, wind speed, navigational speed and ship load) at sea are integrated, the marine dynamic performance test of the automatic steering instrument can be effectively carried out, a test result is formed, the automatic steering core algorithm is improved through a contrast test and iteration test method, a test data basis is provided for improving the control precision of the automatic steering instrument, reducing the navigational energy consumption and perfecting the product maturity of the automatic steering instrument, and the technical level, equipment reliability and product maturity of the automatic steering instrument are improved.
2. The invention collects the steering information, the rudder angle information, the ship position information, the heading information from the compass, the wind speed and wind direction information from the weather instrument, the water-facing navigation speed information from the log and other data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument through the information collecting device, and can comprehensively record the related parameters of the dynamic control process of the automatic steering instrument.
3. The data processing device can carry out statistical analysis on the collected control parameters to control dynamic information such as the steering precision, the course maintaining precision, the track maintaining precision, the voyage fuel consumption information of the ship and the like of the automatic steering instrument to the test database, and calculate the control precision and the energy consumption condition of the dynamic control process of the automatic steering instrument.
4. The data processing device of the invention draws two curves of the instruction course and the ship heading H by taking the time T as a horizontal axis and taking the ship heading H as a vertical axis to generate a test record, and visually displays the dynamic condition of operation and control.
5. According to the invention, by replacing the automatic steering instrument or adjusting the control parameter of the automatic steering instrument, the navigation is performed again according to the steering control instruction, the related information is recorded, and the dynamic parameter of the automatic steering instrument is recorded, so that a test data basis is provided for improving the control precision of the automatic steering instrument, reducing the energy consumption of the navigation times and perfecting the maturity of the product of the automatic steering instrument.
Drawings
FIG. 1 is a block diagram of a system for testing marine dynamic performance of an automatic steering apparatus of the present invention;
fig. 2 is a chart of data records for testing marine dynamic performance of the autopilot of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The automatic test system is arranged on a ship to complete the automatic test function of the marine dynamic performance of the automatic steering instrument. As shown in fig. 1, the automatic test system for marine dynamic performance of an automatic steering device includes an information acquisition device and a data processing device, which are described below:
the information acquisition device is connected with the automatic steering instrument, the shipboard positioning system, the compass, the meteorological instrument, the log, the host and the oil tank level meter and acquires steering information and rudder angle information from the automatic steering instrument, ship position information from the shipboard positioning system, ship heading information from the compass, wind speed and wind direction information from the meteorological instrument, data related to the dynamic performance of the automatic steering instrument and the paravane speed information from the log, rotating speed information from the host and oil quantity information from the oil tank level meter. The information acquired by the information acquisition device is sent to the data processing device, and the data processing device tests the marine dynamic performance of the automatic steering device according to the acquired information.
The data processing device stores the steering instruction and the steering amount acquired by the information acquisition device, records the navigation track, sea condition and meteorological condition of the ship and the oil level of the ship, and calculates the steering precision, course keeping precision, track keeping precision and oil consumption information of the ship to a navigation database, and tests the dynamic control quality and navigation economy of the automatic steering instrument in automatic course control or automatic track control.
Based on the test system, the invention also provides an automatic test method for the marine dynamic performance of the automatic steering instrument, which comprises the following steps:
step 1, connecting an information acquisition device and a data processing device with an automatic steering instrument, a ship positioning system, a compass, a meteorological instrument, a log, a host and an oil tank level instrument, setting relevant parameters when a ship starts to navigate, switching the automatic steering instrument to a course control mode (or a track control mode), and continuously recording dynamic instructions of the automatic steering instrument in the navigation.
And 2, acquiring the steering command information and the steering angle information from the automatic steering instrument, the ship position information from a ship positioning system, the ship heading information from the compass, the wind speed and wind direction information from the weather instrument, the water aligning speed information from the log and the data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument by the information acquisition device.
And 3, the data processing device controls and analyzes the dynamic information of the automatic steering instrument such as the steering precision, the course maintaining precision, the track maintaining precision, the voyage fuel consumption information of the ship and the like to the test database according to the collected information until the whole voyage is finished.
And 4, drawing two curves of the instruction course and the ship heading by taking the time T as a horizontal axis and the ship heading H as a vertical axis by the data processing device to generate a test record.
And 5, replacing the automatic steering instrument or adjusting the control parameters of the automatic steering instrument, sailing again according to the steering control instruction, recording related information, and recording the dynamic parameters of the automatic steering instrument for many times. And comparing and analyzing the test records of the multi-time sailing, and analyzing and optimizing the control parameters of the automatic steering device under various dynamic conditions.
The following gives a specific example of the marine dynamic performance of the automatic steering device by using the invention, and the automatic steering device is arranged on a ship in the test process, and the operation conditions are as follows: the command course is 0 degree, the sea state is 5 grades, the wind speed is 5 m/s, the wind direction is 133 degrees, and the navigational speed is 10 knots, and the actual measurement result is shown in figure 2, so that the test result is accurate and reliable.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (3)
1. The utility model provides a marine dynamic performance's of autopilot test system which characterized in that: the device comprises an information acquisition device and a data processing device, wherein the information acquisition device is connected with an automatic steering instrument, a shipboard positioning system, a compass, a meteorological instrument, a log, a host and an oil tank level instrument and acquires navigation dynamic information of the equipment, the information acquired by the information acquisition device is sent to the data processing device, the data processing device calculates steering precision, course keeping precision, track keeping precision and oil consumption information of a ship to a navigation database according to the navigation dynamic information acquired by the information acquisition device, and the dynamic control quality and navigation economy of the automatic steering instrument in automatic course control or automatic track control are tested.
2. The system for testing marine dynamic performance of an automatic steering device according to claim 1, wherein: the information collected by the information collection device comprises: the control command information and the steering angle information from the automatic steering instrument, the ship position information from a ship positioning system, the ship heading information from the compass, the wind speed and wind direction information from the weather instrument, the water aligning speed information from the log and the data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument.
3. A method for testing a system for testing marine dynamic performance of an automatic steering device according to claim 1 or 2, wherein: the method comprises the following steps:
step 1, connecting an information acquisition device and a data processing device with an automatic steering instrument, a ship positioning system, a compass, a meteorological instrument, a log, a host and an oil tank level instrument, setting navigation parameters when a ship starts to navigate, switching the automatic steering instrument to a course control mode or a track control mode, and continuously recording dynamic instructions of the automatic steering instrument in the navigation;
step 2, the information acquisition device acquires the steering command information and the steering angle information from the automatic steering instrument, the ship position information from a ship positioning system, the ship heading information from the compass, the wind speed and wind direction information from the weather instrument, the water aligning speed information from the log and the data related to the dynamic performance of the automatic steering instrument, the rotating speed information from the host and the oil quantity information from the oil tank level instrument;
step 3, the data processing device controls dynamic information to a test database according to the collected information, the statistical analysis of the steering precision, the course maintaining precision, the track maintaining precision and the voyage fuel consumption information of the automatic steering instrument until the whole voyage is finished;
step 4, the data processing device draws two curves of the instruction course and the ship heading H by taking the time T as a horizontal axis and taking the ship heading H as a vertical axis to generate a test record;
and 5, replacing the automatic steering instrument or adjusting the control parameters of the automatic steering instrument, sailing again according to the steering control instruction, recording relevant information, recording the dynamic parameters of the automatic steering instrument for many times, carrying out comparative analysis on the test records of the sailing for many times, and analyzing and optimizing the control parameters of the automatic steering instrument under various dynamic conditions.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485776A (en) * | 2021-12-20 | 2022-05-13 | 广船国际有限公司 | Ship test information integrated acquisition and analysis system and test method based on Internet of things |
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