CN112711195A - SIL ship automatic control simulation test platform and simulation test method - Google Patents
SIL ship automatic control simulation test platform and simulation test method Download PDFInfo
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Abstract
The invention discloses an SIL (silicon on insulator) ship automatic control simulation test platform and a simulation test method, wherein the simulation test platform comprises a ship model editing module, a control algorithm editing module, a virtual scene editing module and a simulation demonstration module, the ship model editing module, the control algorithm editing module and the virtual scene editing module are respectively connected with the simulation demonstration module, the ship model editing module is used for editing ship model parameters, the control algorithm editing module is used for loading various algorithms and setting the parameters of the algorithms, the virtual scene editing module is used for editing various complex test scenes, the simulation demonstration module is used for loading the ship model, the test scenes and the algorithms, and the ship model is enabled to show the motion control effect under the edited test scenes according to the specified algorithms through an input control instruction. The invention has the advantages of flexible test, low cost and convenient reproduction of test working conditions, and is beneficial to shortening the development and test period of the algorithm in the automatic control of the ship.
Description
Technical Field
The invention belongs to the technical field of ship simulation tests, and particularly relates to an SIL (silicon on insulator) ship automatic control simulation test platform and a simulation test method.
Background
With the development and engineering application of more and more high-performance ships, including intelligent ship collision avoidance, automatic berthing, course track intelligent control, unmanned ship automatic control and the like, the requirement of ship motion control on precision is further improved, a great deal of research work is carried out in the ship control direction by various ship research units and universities, one important work is the design and optimization of various control algorithms, the control effects achieved by adopting different control algorithms under different application scenes are different, two modes of real ship verification and simulation verification are generally adopted for testing the control effect, wherein the real ship verification cost is high, the danger coefficient is large, the simulation verification cost is low, the speed is high, and the calculation precision greatly influences the control result. Considering that the ship control technology needs a large amount of algorithm support, the algorithm research is a continuous iterative process, and under the condition that the algorithm is immature, the simulation from a pure model, the semi-physical simulation and the real ship test are followed, so that the research and development efficiency can be greatly improved, the test cost is reduced, and the trend of the ship control algorithm research is realized.
The existing ship simulation verification platform has no formed product, and each unit mostly adopts an original ship driving simulator as a simulation verification environment, although verification can be performed, the ship driving simulator is used as a semi-physical simulation environment and is mainly used for driver ship operation training, so that operation is inconvenient for a control algorithm developer to debug an algorithm, and a ship and a scene are single in setting function, so that control verification work under complex conditions is inconvenient to complete.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the SIL ship automatic control simulation test platform, which can provide a platform for the quick iteration of the ship automatic control algorithm, is flexible in test, low in cost, convenient in test condition recurrence and beneficial to shortening the development test period of the algorithm in the ship automatic control. In addition, the invention also provides a ship automatic control simulation test method of the SIL.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a SIL ship automatic control simulation test platform, which comprises a ship model editing module, a control algorithm editing module, a virtual scene editing module and a simulation demonstration module, wherein the ship model editing module, the control algorithm editing module and the virtual scene editing module are respectively connected with the simulation demonstration module;
the ship model editing module comprises a ship model management submodule, a ship model parameter editing submodule and a three-dimensional ship model display submodule; the ship model management submodule is used for building or opening a project, importing or exporting a ship model and storing ship parameters, the ship model parameter editing submodule is used for inputting main scale parameters, propeller parameters and sensor parameters, and the three-dimensional ship model display submodule is used for displaying the appearance of the ship model;
the control algorithm editing module comprises an algorithm importing submodule and a parameter editing submodule; the algorithm import submodule is used for importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm, and the parameter editing submodule is used for editing corresponding parameters of each algorithm;
the virtual scene editing module comprises a scene management submodule, a scene editing submodule and a scene display submodule; the scene management submodule is used for creating a scene, importing a scene model and storing the scene, the scene editing submodule is used for adding, deleting, fixing and moving targets, and the scene display module is used for displaying a virtual scene;
the simulation demonstration module comprises a simulation control sub-module, a simulation calculation sub-module, a simulation demonstration sub-module and a simulation report sub-module; the simulation control submodule is used for controlling starting, pausing, continuing and stopping of simulation demonstration, setting environmental parameters and selecting a control mode, the simulation calculation submodule is used for receiving an instruction of the simulation control submodule, a loading algorithm is led into a ship freedom degree motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the submodule to obtain ship motion postures and displacements through resolving, the simulation demonstration submodule is used for loading ship models output by the ship parameter editing submodule, loading scenes output by the scene editing submodule and loading the ship motion postures and displacements obtained by the simulation calculation submodule to display simulation working conditions.
Further, the main scale parameters comprise the total length Loa of the ship, the length Lpp between vertical lines, the length Lw of a waterline, the profile width B, the profile depth D, the draught D, the water displacement delta, a diamond coefficient Cp, a square coefficient Cb, a waterline surface coefficient Cw, the floating center position xb, the gravity center height Zg, the initial stability height GM, the wet area S, the longitudinal wind area AL and the transverse wind area AT.
Further, the propeller parameters comprise the number of propellers, the type of the propellers, the rotating speed N of the main engine, the reduction ratio i, the longitudinal position of the propeller, the transverse position of the propeller, the diameter D of the propeller, the pitch P, the disk surface ratio Aeao, the rudder area AR, the rudder height H and the rudder aspect ratio lambda.
Still further, the sensor parameters include radar position, radar rotation frequency, GPS parameters, AIS parameters, laser rangefinder parameters.
In a second aspect of the present invention, a ship automatic control simulation test method using an SIL is provided, where the ship automatic control simulation test platform using the SIL includes the following steps: the method comprises the following steps:
step one, in a ship model editing module, importing a ship model through a ship model management submodule, inputting ship parameters through a ship model parameter editing submodule, and displaying the appearance of a ship through a three-dimensional ship model submodule to form a ship model to be tested and parameters;
step two, in a control algorithm editing module, importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm through an algorithm import sub-module, and editing corresponding parameters of each algorithm through a parameter editing sub-module;
step three, in the virtual scene editing module, creating or locally selecting a collision prevention scene through a scene management submodule, setting a starting point and an end point of a ship through the scene editing submodule, and setting a port, a buoy and the ship to form the collision prevention scene;
setting environmental parameters through a simulation control submodule in a simulation demonstration module, selecting a control mode, receiving an instruction sent by the simulation control submodule through a simulation calculation submodule, loading a ship model and parameters to be tested formed by a ship model editing module, leading a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the simulation calculation submodule into a loading algorithm, starting an operation program, resolving to obtain a ship motion attitude and displacement, loading the ship model and parameters, a collision avoidance scene and the ship motion attitude and displacement through the simulation demonstration submodule, and displaying in a three-dimensional scene, a two-dimensional test and a data mode;
and step five, carrying out a test, adjusting a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm according to a test result, repeatedly iterating until the test is passed, and outputting a simulation report.
Furthermore, in the second step, the ship six-degree-of-freedom motion algorithm is used for calculating the maneuverability parameters of the ship, including the starting stroke, the ship speed corresponding to each gear clock, the maximum ship speed and the revolution diameter, calculating the survival rate, storing the survival rate in a cache and displaying the survival rate on an interface.
Furthermore, in the second step, the editable parameters of the intelligent ship collision avoidance strategy algorithm include a marine environment modeling parameter, a negotiation type collision avoidance parameter, a reaction type collision avoidance parameter and an emergency collision avoidance parameter, the marine environment modeling parameter includes an obstacle boundary expansion value and an obstacle boundary expansion value, the negotiation type collision avoidance parameter includes a negotiation type collision avoidance distance, a negotiation type collision avoidance speed and a negotiation type modeling added value, and the reaction type collision avoidance parameter includes a reaction type collision avoidance distance and a reaction type collision avoidance speed.
Furthermore, in the second step, the automatic ship control algorithm is a PID control algorithm, and the editable parameters include Kd, Kp, and Ki.
Furthermore, in the fifth step, the contents of the simulation report include ship parameters, a ship six-degree-of-freedom motion algorithm version, a maneuvering performance structure, a ship intelligent collision avoidance strategy algorithm version and parameters thereof, and a ship automatic control algorithm version and parameters thereof.
Compared with the prior art, the invention has the beneficial effects that: the invention can provide a platform for the quick iteration of the ship automatic control algorithm, and quickly finish the whole process from ship model setting, scene building and algorithm access to simulation display in one software.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a work flow chart of the ship automatic control simulation test method of the SIL according to the present invention.
Fig. 2 is a schematic diagram of an editing layer of the automatic ship control platform of the SIL according to the present invention.
Fig. 3 is a schematic view of a display layer of the automatic control platform of a ship with SIL according to the present invention.
Wherein the reference numerals are specified as follows: the system comprises a ship model editing module 1, a control algorithm editing module 2, a virtual scene editing module 3 and a simulation demonstration module 4.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
The embodiment provides a ship automatic control simulation test platform of SIL (silicon on insulator), which comprises a ship model editing module 1, a control algorithm editing module 2, a virtual scene editing module 3 and a simulation demonstration module 4, wherein the ship model editing module 1, the control algorithm editing module 2 and the virtual scene editing module 3 are respectively connected with the simulation demonstration module 4;
the ship model editing module 1 comprises a ship model management submodule, a ship model parameter editing submodule and a three-dimensional ship model display submodule which are in communication connection with each other; the ship model management submodule is used for building or opening a project, importing or exporting a ship model and storing ship parameters, the ship model parameter editing submodule is used for inputting main scale parameters, propeller parameters and sensor parameters, and the three-dimensional ship model display submodule is used for displaying the appearance of the ship model;
the control algorithm editing module 2 comprises an algorithm import sub-module and a parameter editing sub-module which are mutually communicated and connected; the algorithm import submodule is used for importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm, and the parameter editing submodule is used for editing corresponding parameters of each algorithm;
the virtual scene editing module 3 comprises a scene management submodule, a scene editing submodule and a scene display submodule which are mutually communicated and connected; the scene management submodule is used for creating a scene, importing a scene model and storing the scene, the scene editing submodule is used for adding, deleting, fixing and moving targets, and the scene display module is used for displaying a virtual scene;
the simulation demonstration module 4 comprises a simulation control sub-module, a simulation calculation sub-module, a simulation demonstration sub-module and a simulation report sub-module which are mutually communicated and connected; the simulation control submodule is used for controlling starting, pausing, continuing and stopping of simulation demonstration, setting environmental parameters and selecting a control mode, the simulation calculation submodule is used for receiving an instruction of the simulation control submodule, the loading algorithm is led into a ship freedom degree motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the submodule to obtain ship motion postures and displacements through resolving, the simulation demonstration submodule is used for loading a ship model output by the ship parameter editing submodule, loading a scene output by the scene editing submodule, and loading the ship motion postures and displacements obtained by the simulation calculation submodule to display simulation working conditions.
The simulation platform is divided into a simulation editing layer and a simulation display layer. And the simulation editing layer completes the functions of ship model parameter setting, algorithm access, scene editing and the like. The simulation display layer is mainly used for displaying the motion effect after control in the forms of three-dimensional visual scenes, two-dimensional curves, data, reports and the like under certain control instructions and environmental conditions.
Example 2
The embodiment provides a ship automatic control simulation test method of SIL, which comprises the following steps:
step one, in a ship model editing module 1, importing a ship model in a format of ive or fbx through a ship model management submodule, inputting ship parameters through a ship model parameter editing submodule, storing the ship parameters as a local file in an xml format, displaying the appearance of a ship through a three-dimensional ship model submodule, checking through three views, and also dragging a mouse to check the ship model at 360 degrees to form the ship model and the parameters to be tested.
Wherein the major scale parameters include: the method comprises the following steps of ship total length Loa, vertical line length Lpp, waterline length Lw, model width B, model depth D, draught D, water discharge delta, diamond coefficient Cp, square coefficient Cb, waterline surface coefficient Cw, floating center position xb, gravity center height Zg, initial stability height GM, wet area S, longitudinal wind area AL and transverse wind area AT.
The propeller parameters include: the number of the propellers, the types of the propellers, the rotating speed N of the main engine, the reduction ratio i, the longitudinal position of the propeller, the transverse position of the propeller, the diameter D of the propeller, the pitch P, the disk surface ratio Aeo, the rudder area AR, the rudder height H and the rudder spread ratio lambda.
The sensor parameters include: radar position, radar rotational frequency, GPS parameters, AIS parameters, laser range finder parameters.
And step two, in the control algorithm editing module 2, importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm through an algorithm import sub-module, and editing corresponding parameters of each algorithm through a parameter editing sub-module.
The ship six-degree-of-freedom motion algorithm is used for calculating the maneuverability parameters of the ship, including starting stroke, ship speed corresponding to each gear clock, maximum ship speed and rotation diameter, calculating survival rate, storing the survival rate in a cache and displaying the survival rate on an interface.
The editable parameters of the intelligent ship collision avoidance strategy algorithm comprise a marine environment modeling parameter, a negotiation type collision avoidance parameter, a reaction type collision avoidance parameter and an emergency collision avoidance parameter, wherein the marine environment modeling parameter comprises an obstacle boundary expansion value and an obstacle boundary expansion value, the negotiation type collision avoidance parameter comprises a negotiation type collision avoidance distance, a negotiation type collision avoidance speed and a negotiation type modeling added value, and the reaction type collision avoidance parameter comprises a reaction type collision avoidance distance and a reaction type collision avoidance speed. The intelligent ship collision avoidance strategy algorithm considers a path planning and collision avoidance strategy, and when a ship encounters static and dynamic obstacles such as islands, ships, floaters and the like in the navigation process, the course and the navigation speed can be adjusted according to international maritime collision avoidance rules to avoid various obstacles, so that the intelligent ship collision avoidance decision is realized.
The automatic ship control algorithm is a PID control algorithm, and editable parameters comprise Kd, Kp and Ki. The ship automatic control algorithm comprehensively considers the loading and manipulation performance of a ship and carries out control design aiming at different operations, such as an indication controller, an autopilot controller and the like.
The algorithms are stored in a local directory in the form of dll, and the platform reserves a fixed interface so as to replace and test dll files quickly. The development processes of the six-degree-of-freedom motion algorithm, the ship intelligent collision avoidance strategy algorithm and the ship automatic control algorithm are known by the technical personnel in the field and are not in the protection scope of the invention.
And step three, in the virtual scene editing module 3, creating or locally selecting a collision avoidance scene through the scene management submodule, setting a starting point and an end point of a ship through the scene editing submodule, and setting a port, a buoy and the ship to form a typical collision avoidance scene, such as surging, advection, intersection and the like, so as to provide a basis for subsequent tests. The scene materials comprise common ports, inland navigation channels, navigation marks, dangerous targets, target ships and the like, and operators can construct virtual scenes by themselves and store the virtual scenes as ive or fbx files for calling.
Setting environmental parameters such as wind, waves and flow through a simulation control submodule in a simulation demonstration module 4, selecting a control mode (manual or automatic), receiving an instruction sent by the simulation control submodule through a simulation calculation submodule, loading a ship model to be tested and parameters formed by a ship model editing module 1, leading a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the simulation calculation submodule into a loading algorithm, starting an operation program, resolving under the coupling action of the ship six-degree-of-freedom motion algorithm, the ship intelligent collision avoidance strategy algorithm and the ship automatic control algorithm to obtain a ship motion attitude and displacement, loading the ship model and parameters, a collision avoidance scene, a ship motion attitude and displacement through the simulation demonstration submodule, and displaying in a three-dimensional scene, two-dimensional test and data mode. The manual control is to actively avoid the ship by manual operation and steering, and the control mode can be switched at any time during the movement process.
And step five, carrying out a test, adjusting a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm according to a test result, repeatedly iterating until the test is passed, and outputting a simulation report, wherein the contents of the simulation report comprise ship parameters, a ship six-degree-of-freedom motion algorithm version, an operation performance structure, a ship intelligent collision avoidance strategy algorithm version and parameters thereof, and a ship automatic control algorithm version and parameters thereof.
Although the present invention has been described in detail with respect to the above embodiments, it will be understood by those skilled in the art that modifications or improvements based on the disclosure of the present invention may be made without departing from the spirit and scope of the invention, and these modifications and improvements are within the spirit and scope of the invention.
Claims (9)
1. A SIL ship automatic control simulation test platform is characterized by comprising a ship model editing module, a control algorithm editing module, a virtual scene editing module and a simulation demonstration module, wherein the ship model editing module, the control algorithm editing module and the virtual scene editing module are respectively connected with the simulation demonstration module;
the ship model editing module comprises a ship model management submodule, a ship model parameter editing submodule and a three-dimensional ship model display submodule; the ship model management submodule is used for building or opening a project, importing or exporting a ship model and storing ship parameters, the ship model parameter editing submodule is used for inputting main scale parameters, propeller parameters and sensor parameters, and the three-dimensional ship model display submodule is used for displaying the appearance of the ship model;
the control algorithm editing module comprises an algorithm importing submodule and a parameter editing submodule; the algorithm import submodule is used for importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm, and the parameter editing submodule is used for editing corresponding parameters of each algorithm;
the virtual scene editing module comprises a scene management submodule, a scene editing submodule and a scene display submodule; the scene management submodule is used for creating a scene, importing a scene model and storing the scene, the scene editing submodule is used for adding, deleting, fixing and moving targets, and the scene display module is used for displaying a virtual scene;
the simulation demonstration module comprises a simulation control sub-module, a simulation calculation sub-module, a simulation demonstration sub-module and a simulation report sub-module; the simulation control submodule is used for controlling starting, pausing, continuing and stopping of simulation demonstration, setting environmental parameters and selecting a control mode, the simulation calculation submodule is used for receiving an instruction of the simulation control submodule, a loading algorithm is led into a ship freedom degree motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the submodule to obtain ship motion postures and displacements through resolving, the simulation demonstration submodule is used for loading ship models output by the ship parameter editing submodule, loading scenes output by the scene editing submodule and loading the ship motion postures and displacements obtained by the simulation calculation submodule to display simulation working conditions.
2. The automated marine control simulation test platform of a SIL according to claim 1, wherein said major scale parameters include total marine length Loa, vertical line length Lpp, waterline length Lw, profile width B, profile depth D, draft D, displacement Δ, diamond coefficient Cp, square coefficient Cb, waterline face coefficient Cw, floating center position xb, center of gravity height Zg, initial stability height GM, wet area S, longitudinal wind area AL, lateral wind area AT.
3. The automated marine control simulation test platform of SIL according to claim 1, wherein said propeller parameters include number of propellers, type of propellers, speed N of the main machine, reduction ratio i, longitudinal position of the propeller, lateral position of the propeller, diameter D of the propeller, pitch P, disk surface ratio AeAo, rudder area AR, rudder height H, rudder aspect ratio λ.
4. A vessel automation simulation test platform of SIL according to claim 1, wherein said sensor parameters include radar position, radar rotation frequency, GPS parameters, AIS parameters, laser rangefinder parameters.
5. A ship automatic control simulation test method of SIL using the ship automatic control simulation test platform of SIL according to any one of claims 1-4, comprising the steps of:
step one, in a ship model editing module, importing a ship model through a ship model management submodule, inputting ship parameters through a ship model parameter editing submodule, and displaying the appearance of a ship through a three-dimensional ship model submodule to form a ship model to be tested and parameters;
step two, in a control algorithm editing module, importing a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm through an algorithm import sub-module, and editing corresponding parameters of each algorithm through a parameter editing sub-module;
step three, in the virtual scene editing module, creating or locally selecting a collision prevention scene through a scene management submodule, setting a starting point and an end point of a ship through the scene editing submodule, and setting a port, a buoy and the ship to form the collision prevention scene;
setting environmental parameters through a simulation control submodule in a simulation demonstration module, selecting a control mode, receiving an instruction sent by the simulation control submodule by a simulation calculation submodule, loading a ship model and parameters to be tested formed by a ship model editing module, leading a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm of the simulation calculation submodule into a loading algorithm, starting an operation program, resolving to obtain a ship motion attitude and displacement, loading the ship model and parameters, a collision avoidance scene, a ship motion attitude and displacement through the simulation demonstration submodule, and displaying in a three-dimensional scene mode, a two-dimensional test mode and a data mode;
and step five, carrying out a test, adjusting a ship six-degree-of-freedom motion algorithm, a ship intelligent collision avoidance strategy algorithm and a ship automatic control algorithm according to a test result, repeatedly iterating until the test is passed, and outputting a simulation report.
6. The simulation test method for ship automatic control of SIL as claimed in claim 5, wherein in said step two, the ship six-degree-of-freedom motion algorithm is used to calculate the maneuverability parameters of the ship, including starting stroke, ship speed corresponding to each gear clock, maximum ship speed, and turning diameter, calculating survival rate, storing in the buffer, and displaying on the interface.
7. The automatic ship control simulation test method of SIL according to claim 5, wherein in step two, the editable parameters of the intelligent ship collision avoidance strategy algorithm include marine environment modeling parameters, negotiation type collision avoidance parameters, reaction type collision avoidance parameters, and emergency collision avoidance parameters, the marine environment modeling parameters include barrier boundary extension value and barrier boundary expansion value, the negotiation type collision avoidance parameters include negotiation type collision avoidance distance, negotiation type collision avoidance speed, and negotiation type modeling added value, and the reaction type collision avoidance parameters include reaction type collision avoidance distance and reaction type collision avoidance speed.
8. The simulation test method for ship automatic control of SIL according to claim 5, wherein in said second step, the ship automatic control algorithm is PID control algorithm, and the editable parameters include Kd, Kp, Ki.
9. The SIL ship automatic control simulation test method as claimed in claim 5, wherein in the fifth step, the contents of the simulation report include ship parameters, ship six-degree-of-freedom motion algorithm version, maneuvering performance structure, ship intelligent collision avoidance strategy algorithm version and parameters thereof, and ship automatic control algorithm version and parameters thereof.
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