CN201638083U - A hardware-in-the-loop simulation system for ship motion control - Google Patents

Abstract

The utility model discloses a hardware-in-the-loop simulation system for ship motion control, which comprises a ship motion controller, a ship motion simulation system, and a remote control and monitoring system. The ship motion simulation system and the ship motion controller are connected through a serial port communication interface. Realize the mutual connection of data, and realize the mutual connection of data between the ship motion controller and the remote control and monitoring system through the Ethernet communication interface. The working method of the utility model includes inputting ship type selection, actual ship parameters and sea state parameters through the ship motion simulation system; sending rudder angle parameters through the remote control and monitoring system; calculating the heading by the ship motion controller; The device forms a closed-loop control, etc. Utilizing the utility model, the user can arbitrarily select the ship type and set the actual ship parameters, and can select any algorithm module among them to carry out the simulation experiment of the ship motion control, thereby realizing the purpose of real-time monitoring of the ship state.

Description

A hardware-in-the-loop simulation system for ship motion control

technical field

The utility model relates to an in-the-loop simulation system, in particular to a ship motion control hardware-in-the-loop simulation system.

Background technique

Ship motion control is an extremely complex control process. The basic requirement of high-intelligence ships is ship navigation automation. The automatic ship course control system, also referred to as autopilot, is an indispensable and important equipment for high-intelligence ships. Its performance directly affects The economy and safety of the ship's navigation. The control technology level of autopilot is consistent with the development level of control theory, and it develops along with the development of automatic control theory and technology. At present, advanced control algorithms such as neural network control, fuzzy control, and hybrid intelligent control provide new opportunities for designing high-level ship motion controllers. However, there are many difficulties in verifying these advanced control algorithms on actual ships: First, if you want to do research on actual ships, you must go through various complicated procedures including seaman's certificates; Researchers change the parameters of various devices according to the content of the research; if they rent ships by themselves, a lot of manpower and material resources are needed to support them, which cannot be realized under the existing conditions.

The hardware-in-the-loop simulation method is a method that combines the physical model and the mathematical model to conduct experiments. It connects part of the equipment and the computer in the actual system, and uses mathematical simulation to test the part of the system that does not exist or is not convenient for experiments. Run simulations while keeping the entire system running in real time. This simulation technology combines the advantages of physical simulation and mathematical simulation, makes full use of the simplicity of computer modeling, reduces costs, facilitates flexible and quick simulation and change of the model part of the system, and ensures that parameters can be changed while changing parameters. Changes in system performance can be observed in detail. This simulation technology has been widely used in the fields of machinery, electronics, aerospace, and weapon development, especially in the design process of the control system. Due to the increasingly rich system functions and the increasing difficulty of design, the use of hardware-in-the-loop simulation as the overall The system development platform can check the rationality and reliability of the control system design step by step in advance, thereby greatly improving the development quality of the control system, reducing development risks and increasing the success rate of design. However, the hardware-in-the-loop simulation system for ship motion control is still in the development stage, and there is no finished product.

Contents of the invention

In order to solve the above problems in the prior art, the purpose of this utility model is to design a ship motion control hardware-in-the-loop simulation system that can realize ship type selection, real ship parameter setting, ship motion control algorithm selection and ship state real-time monitoring.

In order to achieve the above object, the technical solution of the utility model is as follows: a ship motion control hardware-in-the-loop simulation system includes a ship motion controller, a ship motion simulation system and a remote control and monitoring system, the ship motion simulation system and ship motion control The mutual connection of data is realized through the serial port communication interface between the devices, and the mutual connection of data is realized through the Ethernet communication interface between the ship motion controller and the remote control and monitoring system; the described ship motion simulation system provides ship type selection, and the user can Input different ship types, actual ship parameters and sea state parameters according to the needs, such as ship length, draft, square coefficient, wind and wave strength, wind and wave direction, etc.; the ship motion controller includes intelligent PID, multi-mode intelligent control, fuzzy CMAC control, hybrid intelligent control and other control algorithm modules, the operator can choose any algorithm module to carry out the simulation experiment of ship motion control; the remote control and monitoring system can send heading commands to the ship motion controller, set the controller parameters, and monitor the response of the ship motion simulation system.

The ship type selection described in the utility model includes two kinds of ship type selections of a large container ship and an oil tanker.

The ship motion controller described in the utility model includes a main program module, a ship motion control and communication module, an Ethernet module, a control parameter receiving and ship motion state sending module and a display module, and the main program module is a ship motion controller The core of the software is responsible for task scheduling; the ship motion control and communication module is responsible for the communication tasks with the ship motion simulation system; the Ethernet module is responsible for the underlying TCP/IP-based communication tasks; the control parameter receiving and ship motion status sending module is responsible for communicating with the remote The communication task of the control and monitoring system; the display module is responsible for displaying the rudder angle and heading of the ship.

The serial port communication interface described in the utility model uses WinAPI to carry out the serial port communication program design, and adopts the programming method of the event-driven mode, that is, when the serial port receiving buffer receives data, the receiving program is automatically executed, and the data in the buffer is processed accordingly .

The software of the ship motion controller, ship motion simulation system and remote control and monitoring system described in the utility model adopts Visual C++ language development.

The ship motion simulation system described in the utility model includes two kinds of ship motion mathematical models of response type and separation type. The response type mathematical model is a nonlinear second-order Nomoto model, and the separation type mathematical model includes three degrees of freedom MMG model and a four-degree-of-freedom Hirano model.

The core module of the ship motion controller described in the utility model is the 8-bit microprocessor SST89E516RD of SST Company, the described serial communication interface adopts the MAX232 chip design produced by MAXIM Company, and the described Ethernet communication interface adopts Taiwan Realtek Design of 10Mb/s Ethernet controller RTL8019AS produced by the company.

Compared with the prior art, the utility model has the following beneficial effects:

1. Since the ship motion simulation system of the utility model provides two types of ship types: large container ship and oil tanker, the user can input different ship types, real ship parameters and sea state parameters according to the needs, realizing the realization of The purpose of ship type selection and actual ship parameter setting.

2. Since the ship motion controller of the present invention includes various control algorithm modules such as intelligent PID, multi-modal intelligent control, fuzzy CMAC control, hybrid intelligent control, etc., the operator can choose any algorithm module among them to simulate the ship motion control experiment.

3. Since the remote control and monitoring system of the present invention can send heading commands to the ship motion controller, set controller parameters, and monitor the response of the ship motion simulation system, the purpose of real-time monitoring of ship status is realized.

4. Since the utility model can realize the motion control of the virtual ship, it also provides a practical algorithm verification platform for theoretical researchers such as control algorithms, and can also be used as a scientific research equipment for ship control system simulation for doctors, postgraduates and teachers use. Aiming at the many difficulties in verifying the control algorithm on the actual ship, the utility model provides an effective simulation platform for the research of the ship motion controller and control algorithm in the laboratory environment, and has the advantages of accelerating the application of advanced control theory in the field of ship control. Significance.

Description of drawings

The utility model only has 1 accompanying drawing, wherein:

Figure 1 is a structural block diagram of a hardware-in-the-loop simulation system for ship motion control.

In the figure: 1. Ship motion simulation system, 2. Ship motion controller, 3. Remote control and monitoring system, 4. Serial communication interface, 5. Ethernet communication interface.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described. As shown in Figure 1, a hardware-in-the-loop simulation system for ship motion control includes a ship motion controller 2, a ship motion simulation system 1 and a remote control and monitoring system 3, the ship motion simulation system 1 and the ship motion controller 2 The interconnection of data is realized through the serial port communication interface 4, and the interconnection of data is realized through the Ethernet communication interface 5 between the ship motion controller 2 and the remote control and monitoring system 3; the ship motion simulation system 1 provides ship type selection, Users can input different ship types, actual ship parameters and sea state parameters according to their needs, such as ship length, draft, square coefficient, wind wave strength, wind wave direction, etc.; the ship motion controller 2 includes intelligent PID, multi-mode Various control algorithm modules such as intelligent control, fuzzy CMAC control, hybrid intelligent control, etc., the operator can choose any algorithm module among them to carry out the simulation experiment of ship motion control; the remote control and monitoring system 3 can send to the ship motion controller 2 Heading commands, setting controller parameters, and monitoring the response of the ship motion simulation system 1. Said ship type selection includes two types of ship types: large container ship and oil tanker. The ship motion controller 2 includes a main program module, a ship motion control and communication module, an Ethernet module, a control parameter receiving and ship motion status sending module and a display module, and the main program module is the ship motion controller 2 software The core of the system is responsible for task scheduling; the ship motion control and communication module is responsible for the communication tasks with the ship motion simulation system 1; the Ethernet module is responsible for the underlying TCP/IP-based communication tasks; the control parameter receiving and ship motion state sending module is responsible for communicating with the remote The communication task of the control and monitoring system 3; the display module is responsible for displaying the rudder angle and heading of the ship. The serial port communication interface 4 uses WinAPI to carry out serial port communication program design, and adopts an event-driven programming method, that is, when the serial port receiving buffer receives data, the receiving program is automatically executed to process the data in the buffer accordingly. The software of described ship motion controller 2, ship motion simulation system 1 and remote control and monitoring system 3 adopts Visual C++ language development. The ship motion simulation system 1 includes two kinds of ship motion mathematical models of response type and separation type, the response type mathematical model is a nonlinear second-order Nomoto model, and the separation type mathematical model includes a three-degree-of-freedom MMG model and Four degrees of freedom Hirano model. The core module of the ship motion controller 2 is 8-bit microprocessor SST89E516RD of SST Company, the serial communication interface adopts the MAX232 chip design produced by MAXIM Company, and the Ethernet communication interface 5 adopts Taiwan Realtek Company Production of 10Mb/s Ethernet controller RTL8019AS design.

Working method of the present utility model comprises the following steps:

A. According to the needs of the experiment, input the ship type, actual ship parameters and sea state parameters, such as ship length, draft, square coefficient, wind and wave intensity, wind and wave direction, etc., through the ship motion simulation system 1;

B. The remote control and monitoring system 3 sends the rudder angle parameters to the ship motion controller 2 through the Ethernet communication interface 5;

C. The ship motion controller 2 calls the control function to process the data after receiving the rudder angle parameter, and then sends the calculated course to the ship motion simulation system 1 through the serial port communication interface 4;

D. The ship motion simulation system 1 forms a closed-loop control with the ship motion controller 2 according to the selected ship motion mathematical model, and displays the ship motion track; the remote control and monitoring system 3 simultaneously monitors the state of the ship motion model in real time, and draws the course and rudder angle curves, and display the current heading and rudder angle values of the ship motion model.

The ship motion simulation system 1 described in the utility model and the ship motion controller 2 can also form an open-loop control, send the rudder angle to the ship motion simulation system 1 through the button of the ship motion controller 2, control its track, and simulate manual steering .

For the convenience of understanding the utility model, the working principle of each subsystem is further described below:

1. Working principle of ship motion simulation system 1

The ship motion simulation system 1 is the controlled object of the ship motion controller 2, the system provides a ship motion mathematical model for object simulation, responds to the control quantity (ie rudder angle) input by the ship motion controller 2, outputs the heading, and The track of the ship's movement is displayed on the system screen.

The communication between the ship motion simulation system 1 and the ship motion controller 2 is completed through the serial communication interface 4 . The system uses WinAPI for serial communication program design, and adopts event-driven programming method, that is, when the serial port receiving buffer receives data, it automatically executes the receiving program and processes the data in the buffer accordingly, which can improve the execution of the program. efficiency. The working principle of this method is to establish an event thread, which monitors the events of the serial port, and when an event occurs, it sends a Windows message to the main thread, and the main thread processes the event that has occurred in the message response function. For the specific use of API functions used in programming, please refer to books about WinAPI serial port programming or MSDN. In addition, the serial communication interface 4 uses the same communication protocol as that in the serial communication program of the ship motion controller 2 .

The ship motion simulation system 1 divides the model into two types: response model and separation model. The response model is a nonlinear second-order Nomoto model; the separation model includes a three-degree-of-freedom MMG model and a four-degree-of-freedom Hirano model. The ship motion simulation system 1 provides a parameter input interface, where parameters of the ship model can be input, and wind force, wind direction, and speed can be set. The real ship data of COSCO Shanghai with 5446TEU series containers and 30,000-ton oil tanker in the ship motion simulation system 1 are for users to use.

2. Working principle of ship motion controller 2

The ship motion controller 2 is the hardware link of the whole system. Various control algorithms can be implemented in the ship motion controller 2 in the form of programs. The ship motion controller 2 receives the control parameters sent by the remote control and monitoring system 3 and controls the ship motion. The mathematical model of ship motion provided by the simulation system 1 is used for control to achieve the purpose of verifying the control algorithm. The ship motion controller 2 takes the 8-bit microprocessor SST89E516RD of SST Company as the core, adopts the MAX232 chip produced by MAXIM Company to design the serial communication 4 interface, realizes the data interaction with the ship motion simulation system 1, and constitutes the ship motion closed-loop control; Network interface 5 is designed with 10Mb/s Ethernet controller RTL8019AS produced by Taiwan Realtek Company, and is used for data interaction between ship motion controller 2 and remote control and monitoring system 3 .

3. Working principle of remote control and monitoring system 3

The remote control and monitoring system 3 is used to send course commands to the ship motion controller 2, set the parameters of the ship motion controller, and monitor the response of the ship motion simulation system 1. The remote control and monitoring system 3 includes heading and rudder angle monitoring parts, monitors the rudder angle and heading of the ship motion simulation system 1 in real time, and draws the monitoring curve of heading and rudder angle; the remote control and monitoring system 3 also includes parameter setting part, the parameters of the ship motion controller 2 can be set, and the heading can be sent to the ship motion controller 2 at the same time. The remote control and monitoring system 3 can display the current rudder angle and heading of the ship motion model in real time, and can display the connection status between the remote control and monitoring system 3 and the ship motion controller 2, and notify the user whether the network connection is successful or not.

The remote control and monitoring system 3 is connected to the ship motion controller 2 through the Ethernet communication interface 5, and uses Winsock of Microsoft VC++6.0 for network programming. Windows Sockets is the network programming interface of Microsoft Windows. It is a bridge connecting the application program and the network driver. Sockets are created in the application program and establish a relationship with the driver program through binding operations. After that, the data sent by the application program to the Sockets is determined by Sockets are handed over to the driver and sent to the network. After the computer receives the data related to the IP address and port number bound to the Sockets from the network, the driver program will hand it over to the Sockets, and the application program can extract the received data from the Sockets. This is how network applications send and receive data through Sockets.

In TCP/IP network applications, the main mode of interaction between two communication processes is the client/server mode, that is, the client makes a request to the server, and the server provides corresponding services after receiving the request. This design adopts this mode, that is, the ship motion controller 2 is the client, and the remote control and monitoring system 3 is the server. The sockets (Sockets) used in this design are stream sockets (SOCK_STREAM), which provide connection-oriented and reliable data transmission services. The data is sent without error and duplication, and is received in the order of sending. Stream sockets are implemented based on the TCP protocol. The service process and client process of the streaming socket must create their own sockets and establish connections before communicating, and then they can perform "read" and "write" operations on the corresponding sockets to realize data transmission. The specific programming steps of this service process are as follows:

(1) To create a socket, the service process is always started before the client process, and the service process first calls the socket function to create a socket.

(2) Bind the socket to a local address and port number to identify the socket on the network. This process is done by calling the bind function.

(3) Set the socket to the listening mode, ready to receive the connection request from the client. It is the listen function that sets a socket into listening mode.

(4) After entering the listening state, the socket is ready to receive client connections by calling the accept function. At this time, the client can send a connection request to the server. When the connection request arrives, the accept function will generate a new socket to establish a connection with the client socket, and return a receiving signal to the client. As for the original listening socket, it is still used to receive other client connections and is still in listening mode.

(5) Once the client's socket receives the receiving signal from the server, it means that the client and the server have been connected, and data transmission can be performed. Communicating with customers requires two functions: the send function and the recv function. The send function sends data through a socket with an established connection, and the recv function receives data from a connected socket. One thing to note here is that when the server receives data, if the data does not arrive, the recv function will block , causing the program to halt. In order to solve this problem, this design places the operation of receiving data in a separate thread to complete the data reception smoothly. And in this thread, when data is received, a message is sent to the main thread, and the received data is processed in the message response function.

(6) Return after the communication is completed, and wait for another client request.

(7) Close the socket. Once the task is complete, the connection must be closed to release any resources occupied by the socket, usually by calling the closesocket function.

Claims (4)

1. a ship motion control hardware-in-the-loop simulation system, is characterized in that: comprise ship motion controller (2), ship motion simulation system (1) and remote control and monitoring system (3), described ship motion simulation system ( 1) and the ship motion controller (2) are connected to each other through the serial communication interface (4), and the ship motion controller (2) and the remote control and monitoring system (3) are connected through the Ethernet communication interface (5 ) to realize data interconnection; the ship motion simulation system (1) provides ship type selection. 2. The hardware-in-the-loop simulation system for ship motion control according to claim 1, wherein the ship type selection includes two types of ship types: large container ship and oil tanker. 3. The ship motion control hardware-in-the-loop simulation system according to claim 1 is characterized in that: the ship motion controller (2) includes a main program module, a ship motion control and communication module, an Ethernet module, and a control parameter Receiving and ship motion state sending module and display module, the main program module is the core of the ship motion controller (2) software and is responsible for task scheduling; the ship motion control and communication module is responsible for communication with the ship motion simulation system (1) task; the Ethernet module is responsible for the underlying TCP/IP-based communication task; the control parameter receiving and ship motion state sending module is responsible for the communication task with the remote control and monitoring system (3); the display module is responsible for displaying the rudder angle and heading of the ship. 4. according to claim 1 or 3 described ship motion control hardware-in-the-loop simulation systems, it is characterized in that: the core module of described ship motion controller (2) is the 8-bit microprocessor SST89E516RD of SST company, described The serial communication interface adopts the MAX232 chip design produced by MAXIM Company, and the Ethernet communication interface (5) adopts the 10Mb/s Ethernet controller RTL8019AS design produced by Taiwan Realtek Company.

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