CN201638083U - Ship motion control hardware-in-loop simulation system - Google Patents
Ship motion control hardware-in-loop simulation system Download PDFInfo
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- CN201638083U CN201638083U CN2009202483294U CN200920248329U CN201638083U CN 201638083 U CN201638083 U CN 201638083U CN 2009202483294 U CN2009202483294 U CN 2009202483294U CN 200920248329 U CN200920248329 U CN 200920248329U CN 201638083 U CN201638083 U CN 201638083U
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Abstract
The utility model discloses a ship motion control hardware-in-loop simulation system which comprises a ship motion controller, a ship motion simulation system and a remote controlling and monitoring system. The mutual data connection between the ship motion simulation system and the ship motion controller is realized through a serial communication interface, and the mutual data connection between the ship motion controller and the remote controlling and monitoring system is realized through an Ethernet communication interface. The working method of the utility model comprises the following steps of: inputting ship form selection, practical ship parameters and sea condition parameters through the ship motion simulation system; sending rudder angle parameters through the remote controlling and monitoring system; and calculating a course by the ship motion controller; and forming closed-loop control by the ship motion simulation system and the ship motion controller, and the like. By utilizing the utility model, a user can randomly select ship forms and set practical ship parameters, select any algorithm module for ship motion control simulation tests and realize the aim of monitoring the ship state in real time.
Description
Technical field
The utility model relates to a kind of at loop simulation system, and particularly a kind of ship motion control hardware is at loop simulation system.
Background technology
Ship motion control is a very complicated control procedure, the basic demand of high-intelligentization boats and ships is boats and ships shipping robotizations, the ship course automatic control system also abbreviates autopilot as, be the indispensable visual plants of high-intelligentization boats and ships, its performance directly affects the economy and the security of ship's navigation.The control technology level of autopilot is consistent with the control theory development level, and it is accompanied by the development of Theory of Automatic Control and technology and develops.Advanced persons' such as ANN (Artificial Neural Network) Control, fuzzy control, hybrid intelligent control control algolithm provides new opportunity for designing high-caliber ship motion controller at present.But face a lot of difficulties in these advanced control algolithms of checking on the actual boats and ships: at first want on actual boats and ships, to make a search and just must handle the various miscellaneous formality that comprises seaman's book; The parameter that also unlikely allows the researchist change various devices at sea when secondly boats and ships normally move according to the content of research; If rent boats and ships voluntarily, need lot of manpower and material resources support, under existing condition, can't realize.
The hardware-in-loop simulation method is a kind of method that physical model and mathematical model gang are tested, it interconnects a part of equipment and the computing machine of real system, mode with mathematical simulation is carried out emulation to the part system that does not wherein exist or be not easy to test, and guarantees the total system real-time motion simultaneously.This emulation technology combines the advantage of physical simulation and mathematical simulation, make full use of the simplification of microcomputer modelling, reduced expense, be convenient to model part to system and carry out flexibly and fast emulation, change, guaranteed the just variation of observe system performance in detail when realizing changing parameter.This emulation technology has obtained widespread use in fields such as machinery, electronics, space flight and aviation and weapon developments, especially in the design process of control system, because systemic-function becomes increasingly abundant, design difficulty strengthens day by day, utilize hardware-in-loop simulation then can progressively check the rationality and the reliability of Control System Design in advance as the development platform of total system, thereby improve the development quality of control system greatly, reduce to develop risk and raising is designed to power.But the ship motion control hardware still is in the development stage at present at loop simulation system, does not have the product of moulding.
Summary of the invention
Be the problems referred to above that the solution prior art exists, the purpose of this utility model is that a kind of ship motion control hardware of the selection of ship type, the setting of real ship parameter, marine vehicle movement control algorithm selection and Vessel's Description monitoring in real time of can realizing of design is at loop simulation system.
To achieve these goals, the technical solution of the utility model is as follows: a kind of ship motion control hardware comprises ship motion controller, Simulation of ship motion system and Long-distance Control and monitoring system at loop simulation system, realize interconnecting of data by serial communication interface between described Simulation of ship motion system and the ship motion controller, realize interconnecting of data by ethernet interface between ship motion controller and Long-distance Control and the monitoring system; Described Simulation of ship motion system provides the ship type to select, and the user can import not shipmate type, real ship parameter and sea situation parameter as required voluntarily, as boats and ships length, draft, block coefficient, stormy waves intensity, stormy waves direction etc.; Described ship motion controller has comprised various control algoritic modules such as intelligent PID, multi-modal Based Intelligent Control, fuzzy CMAC control, hybrid intelligent control, and the operator can select any particular algorithms module wherein to carry out the emulation experiment of ship motion control; Described Long-distance Control and monitoring system can send the course order to the ship motion controller, controller parameter is set, and the response condition of Simulation of ship motion system is monitored.
Ship type described in the utility model selects to comprise Large Container Ship and two kinds of ship types selections of oil tanker.
Ship motion controller described in the utility model comprises that main program module, ship motion control and communication module, ethernet module, controlled variable receive and ship motion status send module and display module, described main program module is the core of ship motion controller software, is responsible for task scheduling; Ship motion control and communication module are responsible for the communication task with the Simulation of ship motion system; Ethernet module is responsible for the communication task based on TCP/IP of bottom; Controlled variable receives communication task responsible with the ship motion status send module and Long-distance Control and monitoring system; Display module is responsible for showing the rudder angle and the course of boats and ships.
Serial communication interface described in the utility model uses WinAPI to carry out the serial communication program design, adopt the programmed method of event driven manner, promptly when the serial ports send buffer is received data, automatically perform the reception program, the data in the buffer zone are carried out respective handling.
The software of ship motion controller described in the utility model, Simulation of ship motion system and Long-distance Control and monitoring system adopts the exploitation of Visual C Plus Plus.
Simulation of ship motion described in the utility model system comprises response type and two kinds of ship motion mathematical models of divergence type, described response type mathematical model is a second order nonlinear Nomoto model, and described divergence type mathematical model comprises the open country model of Three Degree Of Freedom MMG model and four-degree-of-freedom.
The nucleus module of ship motion controller described in the utility model is the 8-bit microprocessor SST89E516RD of SST company, the 10Mb/s ethernet controller RTL8019AS design that the MAX232 chip design that described serial communication interface adopts MAXIM company to produce, described ethernet interface adopt Taiwan Realtek company to produce.
Compared with prior art, the utlity model has following beneficial effect:
1, because Simulation of ship motion of the present utility model system boats and ships dynamic simulation system provides Large Container Ship and two kinds of ship types of oil tanker to select, the user can import not shipmate type, real ship parameter and sea situation parameter as required voluntarily, has realized requiring to carry out the purpose that the ship type is selected and real ship parameter is provided with according to the user.
2, because ship motion controller of the present utility model has comprised intelligent PID, multi-modal Based Intelligent Control, fuzzy CMAC control, various control algoritic modules such as hybrid intelligent control, the operator can select any particular algorithms module wherein to carry out the emulation experiment of ship motion control.
3, because Long-distance Control of the present utility model and monitoring system can send the course order to the oceangoing ship motion controller, controller parameter is set, and the response condition of Simulation of ship motion system such as is monitored at function, realize the purpose that Vessel's Description is monitored in real time.
4, because the utility model can be realized the motion control to virtual boats and ships, a kind of proof of algorithm platform of reality is provided to control algolithm scheduling theory researcher simultaneously, and the research equipment that also can be used as ship control system emulation offers doctor, Master degree candidate and teacher and uses.Face numerous difficulties at access control algorithm on actual boats and ships, the utility model provides an effective emulation platform for the research of carrying out ship motion controller and control algolithm at laboratory environment, and is significant in the application in boats and ships control field to quickening advanced control theory.
Description of drawings
The utility model is 1 of drawings attached only, wherein:
Fig. 1 is the composition structured flowchart of kind of ship motion control hardware at loop simulation system.
Among the figure: 1, Simulation of ship motion system, 2, the ship motion controller, 3, Long-distance Control and monitoring system, 4, serial communication interface, 5, ethernet interface.
Embodiment
Below in conjunction with accompanying drawing the utility model is described further.As shown in Figure 1, a kind of ship motion control hardware comprises ship motion controller 2, Simulation of ship motion system 1 and Long-distance Control and monitoring system 3 at loop simulation system, realize interconnecting of data by serial communication interface 4 between described Simulation of ship motion system 1 and the ship motion controller 2, realize interconnecting of data by ethernet interface 5 between ship motion controller 2 and Long-distance Control and the monitoring system 3; Described Simulation of ship motion system 1 provides the ship type to select, and the user can import not shipmate type, real ship parameter and sea situation parameter as required voluntarily, as boats and ships length, draft, block coefficient, stormy waves intensity, stormy waves direction etc.; Described ship motion controller 2 has comprised various control algoritic modules such as intelligent PID, multi-modal Based Intelligent Control, fuzzy CMAC control, hybrid intelligent control, and the operator can select any particular algorithms module wherein to carry out the emulation experiment of ship motion control; Described Long-distance Control and monitoring system 3 can send the course order to ship motion controller 2, controller parameter is set, and the response condition of Simulation of ship motion system 1 is monitored.Described ship type selects to comprise Large Container Ship and two kinds of ship types selections of oil tanker.Described ship motion controller 2 comprises that main program module, ship motion control and communication module, ethernet module, controlled variable receive and ship motion status send module and display module, described main program module is the core of ship motion controller 2 softwares, is responsible for task scheduling; Ship motion control and communication module are responsible for the communication task with Simulation of ship motion system 1; Ethernet module is responsible for the communication task based on TCP/IP of bottom; Controlled variable receives communication task responsible with the ship motion status send module and Long-distance Control and monitoring system 3; Display module is responsible for showing the rudder angle and the course of boats and ships.Described serial communication interface 4 uses WinAPI to carry out the serial communication program design, adopts the programmed method of event driven manner, promptly when the serial ports send buffer is received data, automatically performs the reception program, and the data in the buffer zone are carried out respective handling.The software of described ship motion controller 2, Simulation of ship motion system 1 and Long-distance Control and monitoring system 3 adopts the exploitation of Visual C Plus Plus.Described Simulation of ship motion system 1 comprises response type and two kinds of ship motion mathematical models of divergence type, described response type mathematical model is a second order nonlinear Nomoto model, and described divergence type mathematical model comprises the open country model of Three Degree Of Freedom MMG model and four-degree-of-freedom.The nucleus module of described ship motion controller 2 is 8-bit microprocessor SST89E516RD of SST company, the MAX232 chip design that described serial communication interface adopts MAXIM company to produce, the 10Mb/s ethernet controller RTL8019AS design that described ethernet interface 5 adopts Taiwan Realtek company to produce.
Method of work of the present utility model may further comprise the steps:
A, according to the experiment needs, by Simulation of ship motion system 1 input ship type, real ship parameter and sea situation parameter, as boats and ships length, draft, block coefficient, stormy waves intensity, stormy waves direction etc.;
B, Long-distance Control and monitoring system 3 send to ship motion controller 2 by ethernet interface 5 angular dimensions of steering;
C, ship motion controller 2 receive and call control function after the rudder angle parameter data are handled, and then the course that calculates are sent to Simulation of ship motion system 1 by serial communication interface 4;
D, Simulation of ship motion system 1 form closed-loop control according to ship motion mathematical model of selecting and ship motion controller 2, and show the ship motion flight path; Long-distance Control and monitoring system 3 are monitored in real time to the state of ship motion model simultaneously, draw course and rudder angle curve, and demonstrate current course of ship motion model and rudder angle value.
Simulation of ship motion described in the utility model system 1 also can form open loop control with ship motion controller 2, and the button by ship motion controller 2 sends rudder angle to Simulation of ship motion system 1, controls its flight path, the simulation hand steering.
For ease of understanding the utility model, the principle of work to each subsystem is described further below:
1, the principle of work of Simulation of ship motion system 1
Simulation of ship motion system 1 is the controlled device of ship motion controller 2, this system provides ship motion mathematical model to be used for object emulation, controlled quentity controlled variable (being rudder angle) to 2 inputs of ship motion controller responds, and exports the course, and demonstrates the flight path of ship motion on system screen.
Communicating by letter between Simulation of ship motion system 1 and the ship motion controller 2 finished by serial communication interface 4.This system uses WinAPI to carry out the serial communication program design, adopt the programmed method of event driven manner, promptly when the serial ports send buffer is received data, automatically perform the reception program, data in the buffer zone are carried out respective handling, can improve executing efficiency like this.The principle of work of this method is to set up an event thread, and it monitors the incident of serial ports, and when incident took place, it sent a windows messaging to main thread, and main thread is handled event in the message response function.The concrete use of the api function of using in the program design can be with reference to the books or the MSDN of relevant WinAPI serial port programming.In addition, use in the serial communication interface 4 with ship motion controller 2 serial communication program in identical communication protocol.
Simulation of ship motion system 1 is divided into two kinds on response type model and divergence type model with model, and wherein the response type model is a second order nonlinear Nomoto model; The divergence type model comprises the open country model of Three Degree Of Freedom MMG model and four-degree-of-freedom.Simulation of ship motion system 1 provides the parameter inputting interface, can import the parameter of ship model, and wind-force, wind direction, the speed of a ship or plane etc. are set.Having COSCO Shanghai number of 5446TEU series container and the real ship data of 30,000 tons of oil tankers in the Simulation of ship motion system 1 uses for the user.
2, ship motion controller 2 principle of work
3, the principle of work of Long-distance Control and monitoring system 3
Long-distance Control and monitoring system 3 are used for sending the course order to ship motion controller 2, and the ship motion controller parameter is set, and the response condition of Simulation of ship motion system 1 is monitored.Long-distance Control and monitoring system 3 comprise course, rudder angle monitoring part, in real time the rudder angle and the course of Simulation of ship motion system 1 monitored, and the monitoring curve of draw course and rudder angle; Long-distance Control and monitoring system 3 comprise that also parameter is provided with part, can the parameter of ship motion controller 2 be provided with, and simultaneously the course are sent to ship motion controller 2.Long-distance Control and monitoring system 3 can show rudder angle and the course that the ship motion model is current in real time, and can show the connection status of Long-distance Control and monitoring system 3 and ship motion controller 2, and whether the successful connection of notice user network.
Long-distance Control is carried out data by ethernet interface 5 with ship motion controller 2 with monitoring system 3 and is connected, and uses the Winsock of Microsoft VC++6.0 to carry out network programming.Windows Sockets is the network program design interface of Microsoft Windows, it is the bridge that connects application program and network driver, Sockets creates in application program, by bindings and driver opening relationships, after this, application program is given the data of Sockets, gives driver by Sockets and sends on network.Computing machine is given Sockets by driver after receiving the data relevant with port numbers with the IP address of this Sockets binding from network, and application program just can be extracted the data that receive from this Sockets.Web application comes to this and carries out the transmission of data and reception by Sockets.
In the TCP/IP network application, the main pattern of two process interphase interactions of communication is a Client, and promptly the client files a request to server, after server receives request, provides corresponding service.What the design adopted is exactly this pattern, and promptly ship motion controller 2 is a client computer, and Long-distance Control and monitoring system 3 are server.The socket that uses among the design (Sockets) is stream socket (SOCK_STREAM), and it provides towards connection, reliable data transport service, the transmission that data zero defect, nothing repeat, and press the sending order reception.Stream socket is based on the Transmission Control Protocol realization.The service processes client process of stream socket must be created socket separately and connect before communication, could carry out " reading ", " writing " operation to corresponding socket then, realizes the transmission of data.The concrete programming step of this service processes is as follows:
(1) create socket, service processes always starts prior to client process, and service processes at first calls socket of socket function creation.
(2) socket is tied on a local address and the port numbers, so that on network, identify this socket.This process is finished by calling the bind function.
(3) socket is made as listen mode, prepares to receive the connection request of client.What socket was set to listen mode is the listen function.
(4) enter after the listening state, make socket carry out the preparation that receives client's connection by calling the accept function.This moment, the client can send connection request to server end, and after connection request arrived, the accept function can generate a new socket and client's socket connects, and returns received signal to client.Monitor socket as for original that, it still is used to receive other client computer and connects, and still is in listen mode.
(5) in case the socket of client computer is received the received signal from server, represent that then client computer and server realized being connected, can carry out data transmission.Communicate with the client and need use two functions: send function and recv function.The send function sends data by a socket that has connected, the recv function receives data from a socket that has connected, what this should be noted that any is: when server receives data, if data do not arrive, the recv function can block, thereby causes the program halt operation.Be placed in the independent thread and finish in order to address this problem operation that the design will receive data, so that carry out the reception of data smoothly.And in this thread, after receiving data, just send a message, in the message response function, the data that receive are handled to main thread.
(6) return after communication finishes, wait for another client requests.
(7) close socket.In case task is finished, just must turn off connection to discharge all resources that socket takies, call the closesocket function usually and finish this operation.
Claims (4)
1. a ship motion control hardware is at loop simulation system, it is characterized in that: comprise ship motion controller (2), Simulation of ship motion system (1) and Long-distance Control and monitoring system (3), realize interconnecting of data by serial communication interface (4) between described Simulation of ship motion system (1) and the ship motion controller (2), realize interconnecting of data by ethernet interface (5) between ship motion controller (2) and Long-distance Control and the monitoring system (3); Described Simulation of ship motion system (1) provides the ship type to select.
2. ship motion control hardware according to claim 1 is characterized in that at loop simulation system: described ship type selects to comprise Large Container Ship and two kinds of ship types selections of oil tanker.
3. ship motion control hardware according to claim 1 is at loop simulation system, it is characterized in that: described ship motion controller (2) comprises that main program module, ship motion control and communication module, ethernet module, controlled variable receive and ship motion status send module and display module, described main program module is the core of ship motion controller (2) software, is responsible for task scheduling; Ship motion control and communication module are responsible for the communication task with Simulation of ship motion system (1); Ethernet module is responsible for the communication task based on TCP/IP of bottom; Controlled variable receives communication task responsible with the ship motion status send module and Long-distance Control and monitoring system (3); Display module is responsible for showing the rudder angle and the course of boats and ships.
According to claim 1 or 3 described ship motion control hardwares at loop simulation system, it is characterized in that: the nucleus module of described ship motion controller (2) is the 8-bit microprocessor SST89E516RD of SST company, the 10Mb/s ethernet controller RTL8019AS design that the MAX232 chip design that described serial communication interface adopts MAXIM company to produce, described ethernet interface (5) adopt Taiwan Realtek company to produce.
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| CN2009202483294U CN201638083U (en) | 2009-11-20 | 2009-11-20 | Ship motion control hardware-in-loop simulation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309236A (en) * | 2013-05-24 | 2013-09-18 | 大连海事大学 | In-loop simulation system of double-diesel engine propulsion control hardware of ship |
| CN105843042A (en) * | 2016-04-11 | 2016-08-10 | 大连海事大学 | Portable autopilot ship rudder detection system |
| CN107092199A (en) * | 2017-06-05 | 2017-08-25 | 南京航空航天大学 | Ship motion controller emulation platform and ship motion controller method |
-
2009
- 2009-11-20 CN CN2009202483294U patent/CN201638083U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309236A (en) * | 2013-05-24 | 2013-09-18 | 大连海事大学 | In-loop simulation system of double-diesel engine propulsion control hardware of ship |
| CN103309236B (en) * | 2013-05-24 | 2015-08-12 | 大连海事大学 | The two diesel main engine Solid rocket engine hardware-in-loop simulation system of a kind of boats and ships |
| CN105843042A (en) * | 2016-04-11 | 2016-08-10 | 大连海事大学 | Portable autopilot ship rudder detection system |
| CN107092199A (en) * | 2017-06-05 | 2017-08-25 | 南京航空航天大学 | Ship motion controller emulation platform and ship motion controller method |
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Granted publication date: 20101117 Termination date: 20111120 |