WO2014126477A1 - Système et procédé de test permettant de tester l'interfonctionnement d'au moins deux logiciels de système de commande d'une installation de marine ou d'un navire - Google Patents

Système et procédé de test permettant de tester l'interfonctionnement d'au moins deux logiciels de système de commande d'une installation de marine ou d'un navire Download PDF

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Publication number
WO2014126477A1
WO2014126477A1 PCT/NO2014/050018 NO2014050018W WO2014126477A1 WO 2014126477 A1 WO2014126477 A1 WO 2014126477A1 NO 2014050018 W NO2014050018 W NO 2014050018W WO 2014126477 A1 WO2014126477 A1 WO 2014126477A1
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WO
WIPO (PCT)
Prior art keywords
control
hardware
control system
software
test
Prior art date
Application number
PCT/NO2014/050018
Other languages
English (en)
Inventor
Nicolai HUSTELI
Olve Mo
Halvor PLATOU
Roger NILSEN
Øyvind SMOGELI
Original Assignee
Marine Cybernetics As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Marine Cybernetics As filed Critical Marine Cybernetics As
Priority to KR1020157011368A priority Critical patent/KR20150117634A/ko
Publication of WO2014126477A1 publication Critical patent/WO2014126477A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
    • G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
    • G06F11/0736—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0267—Fault communication, e.g. human machine interface [HMI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/0796—Safety measures, i.e. ensuring safe condition in the event of error, e.g. for controlling element

Definitions

  • the present invention relates to the field of testing of control systems of a marine installation or vessel. More specifically it relates to the testing of the interworking of the software of two or more control systems connected to respective equipment under control that are interconnected.
  • Modern offshore marine installations such as vessels and rigs, usually have multiple computer control systems that act as an integrated system allowing control of the marine installation's operations.
  • the physical process in this case in the form of a marine installation or vessel, may be influenced by external events like a change in wind, waves and current, or by unexpected events like loss of motor power for one or more propellers, or failure in the function of a rudder. It is desired or expected that the control system for the marine installation can handle external influence and external events so as for the marine installation to maintain a safe state.
  • a safe state may for example be that that the marine installation maintains the desired position or velocity, or that it avoids undesired positions (to avoid collision or grounding), that it avoids a situation of uncontrolled drift, that it maintains a desired course, etc.
  • the control system in the case of loss of sensor signals or errors in sensors should not do undesired and unfortunate compensations like a sudden change in ballast pumping in response to loss of a realistic signal in a roll or pitch sensor, or sudden corrections of an apparent error in position.
  • the control system is to give control signals to actuators like propulsors and control devices.
  • the propulsors may be ordinary propellers, tunnel thrusters or azimuth thrusters, or in some cases, a mooring system that is designed to pull the marine installation to the right position.
  • Control signals can also be given to ballast pumps and associated valves to correct the roll angle or the pitch angle.
  • drilling control systems are influenced both by the vessel on which the drilling systems to be controlled are arranged, and also by the drilling operations to be performed. Drilling systems require large amounts of power. There is thus an interconnection between power management systems of the vessel and the drilling control systems. All said systems must correctly interact so as for allowing the proper functioning of the vessel as a whole during drilling operations. Although the individual drilling control subsystems, such as top drive, heave compensation, and mud pumps may operate independently their control systems will often need to interact, and there may arise failures from these interactions or from the breakdown of one or more of the components or interconnections there between.
  • Drilling operations are in this context considered to comprise any operation performed during the preparation, drilling and completion of a well from the initial positioning of the drilling vessel until the well is ready for production.
  • a malfunction in one of the systems may influence the entirety of systems on the vessels and may incur major failures, resulting in vessel damage or serious environmental
  • Figure 1 is a schematic drawing of a prior art marine installation (1) comprising installations on rigs and vessels that may be the subject of an
  • the marine installation has two or more control systems (2), where each of the control systems (2) interact with at least one equipment under control (3), where the control systems (2) are arranged to provide and send control signals (c) to the equipment under control (3), and the equipment under control (3) is arranged to receive the control signals (c) and perform an operation associated with the specific incoming control signal (c).
  • the equipment under control (3) is arranged to send process data (p) from the process operated by the equipment under control (3) back to the control system (2).
  • the process data (p) will typically be used as input feedback in a control loop of the control system (2).
  • a control panel (70) comprising control system hardware (73) and control system software (71) is used to operate the control system (2), and will typically provide a graphical Human Machine Interface (HMI) for an operator. Only one control panel (70) is shown in Figure 1, but usually each control system (2) has at least one control panel (70).
  • Figure 1 shows that a communication network (4) is used between the control systems (2) and equipment under control (3).
  • the communication network may be of any type, such as PROFIBUS, PROFINET, Modbus, CAN-bus etc.
  • the communication network may also typically be implemented as a redundant network e.g. with a ring topology or as two or more separate networks.
  • control systems (2) may also be hardwired to the equipment under control (3), without making use of a communication network (4), or as an addition to a communication network (4).
  • control system (2) typically comprises a control system hardware (23), and a control system software (21), runs on the control system hardware (23).
  • control system hardware (23) is often PLC based but can also be implemented on embedded hardware devices or industrial PCs.
  • control system software (21) may be designed to run on one or more control system hardware (23) devices, or computers, each with one or more processors.
  • the equipment under control (3) typically comprises a control part (31), a process data part (32), and equipment (32).
  • the control part (31) is typically one or more actuators acting on the equipment (33) based on the incoming control signals (c), while the process data part (32), typically comprises sensors arranged for sensing parameters related to the process operated by the equipment (33), and/or sensing parameters related directly to the equipment (33) itself.
  • connection (5) there is some kind of relationship or connection (5) between the two or more equipment under control (3).
  • a control signal (c) acting on the equipment under control (3) to the left of Figure 1 may influence the equipment under control (3) to the right, and the sensors in the process data part (32) to the right may detect a change in a parameter value that is sent as a sensor signal value or process data (p) to the corresponding control system (2).
  • the control system (2) may try to maintain a stable situation for its equipment under control (3), and send a control signal (c) to its equipment under control (3).
  • control systems (2) may also directly communicate by a control system interconnection signal (s).
  • the control system interconnection signal (s) may e.g . be an incoming process data (p) signal that is forwarded to another control system (2), or a control signal from a first control system (2) to a second control system (2), that is a result of processing relevant incoming process data (p) signals in the first control system (2).
  • connection (5) may be of any type, e.g. mechanical, electrical, hydraulic or any other connection that allows an equipment under control (3) to influence the operating conditions of another equipment under control (3).
  • connection is an electric power cable from an electric power generator of a Power generating system controlled by a Power Management system (PMS) to an equipment under control (3) that is a consumer of electric power, such as drilling equipment, cranes, lifts, winches etc.
  • PMS Power Management system
  • Fig. lb a test system for testing the interworking according to prior art is shown.
  • the simulator comprises simulated equipment under control (3') and simulated connections (5') between the simulated equipment under control (3'). This allows for testing of the real control systems without actually having to operate real generators, actuators etc. and the interworking test may be started before the actual hardware is installed in the marine installation (1).
  • the simulator is implemented in a simulator software (101) running on computer hardware (103) with an operating system (102).
  • the control system receives input commands from input command device, and sends control signals to actuators.
  • the marine installation comprises sensors providing signals back to the control system.
  • a simulator receives signals from the marine installation, and the simulated actuator module provides simulated forces to the simulated marine installation module comprising algorithm for computing dynamic behavior of simulated marine installation.
  • a simulated sensor module provides simulated sensor signals to the control system which continues to send control signals to real actuators.
  • the multiple computer control systems (2) described above act as an integrated control system for control of the marine installation's operations through the equipment under control (3).
  • the systems are seldom produced by the same vendor and hence commissioning and integration testing of the complete integrated system is typically done onboard the vessel and typically at sea trails at the end of a new build project.
  • the project is on a critical time line, logistics is complex and different parties are fighting for extremely expensive and limited test time.
  • Testing and commissioning in prior art is limited not only by time but also due to restrictions concerning safety and possible damage to equipment.
  • Problem solving and software development must be done onboard under high pressure, leading to introduction of possible other weaknesses to the system. Incidents during operation of a marine installation are also difficult, time consuming and therefore expensive to troubleshoot onboard the marine installation. It can be challenging to reveal the root cause of a problem and thereby difficult to pinpoint which vendor or vendors that must be called for action.
  • An object of the present invention is to disclose a test system and method that allows integration testing of the various control systems onboard the marine installation to begin at an earlier stage than prior art.
  • test system and method allows tests to be performed faster than similar tests according to prior art, by reducing the dependency of available hardware resources.
  • control system software of marine installations or vessels in operation can be tested. For upgrade of software this is of specific importance.
  • the invention is a test system for testing the interworking of two or more control system software (21) of a marine installation (1), wherein each control system software (21) is arranged to run on a control system hardware (23), and the control system hardware (23), is arranged to be connected to at least one equipment under control (3),
  • test system comprising;
  • a hardware emulator (40) is the host for the guest control system software (21).
  • the invention is also a test method for testing the interworking of two or more control system software (21) of a marine installation or vessel (1), wherein each control system software (21) is arranged to run on a control system hardware (23), and the control system hardware (23), is arranged to be connected to at least one equipment under control (3), the test method comprising the following steps;
  • test system and the test method according to the invention is that it is not dependent on location, hardware or the marine installation itself.
  • test setup can be duplicated to several instances allowing parallel testing on exact copies of the same setup leading to shorter testing calendar time, efficient usage of test teams, experts and other stakeholders in the test project.
  • test setup Since the test setup is available and accessible at all times, it invites testers to do incremental testing as soon as new software versions are uploaded. Support and audits from vendor, class society and customer can be given on-demand.
  • the two or more hardware emulators (40) are running on one or more virtual machines.
  • a virtual test environment is ideal for cross vendor integration testing.
  • - Version tracking of the complete integrated system can easily be done since the complete test setup is just computer files on a storage media. This opens up for quick examination of differences between different software versions.
  • - Access and control of the virtual test setup may be done by connecting to the virtual machines using remote desktop technology. This allows multiple client terminals to monitor and share control over the different virtual machines from any location with internet access.
  • Virtual servers may be rented on a short or long term basis. This adds flexibility to the testing, and may also be cost beneficial.
  • Figure 1 illustrates in a block diagram control systems (2) acting on respective equipment under control (3) according to prior art.
  • Figure 2 illustrates in a block diagram the use of a simulator (100) according to prior art to test the control system software (100) of the system in Figure 1.
  • Figure 3 illustrates in a block diagram an embodiment of the invention.
  • the emulated control systems (2') each comprises computer hardware (42), an operating system (41), an emulated control system hardware (40) and the control system software (21).
  • the emulated control systems (2') are communicating with respective simulated equipment under control (3') over the communication network (4').
  • the communication network is preferably of the same type as the communication network (4) used between the real control systems (2) and the real equipment under control (3) in the marine installation (1) comprising rigs and vessels. However, adaptors between networks may also be used if different network types are involved.
  • control signals (c') from the emulated control system (2') towards the simulated equipment under control (3') should have the same format, i.e. be based on the same metamodel, as the control signals (c) from the real control system (2).
  • the process data ( ⁇ ') signals from the simulated equipment under control (3') should have the same format as the process data (p) from the real equipment under control (3).
  • At least one of said equipment under control (3) is arranged to receive command signals (c) from at least two different control system software (21).
  • a local thruster control may receive commands both from a DP control system and a Power Management System.
  • the invention is a test system for testing the interworking of two or more control system software (21) of a marine installation or vessel (1), wherein each control system software (21) is arranged to run on a control system hardware (23), and the control system hardware (23), is arranged to be connected to at least one equipment under control (3),
  • test system comprising;
  • the invention is also in an embodiment a test method for testing the interworking of two or more control system software (21) of a marine installation (1), wherein each control system software (21) is arranged to run on a control system hardware (23), and the control system hardware (23), is arranged to be connected to at least one equipment under control (3), the test method comprising the following steps;
  • test-setup has now been de-coupled from the physical hardware of the marine installation, and testing is any more not limited by the hardware on-board the marine installation.
  • testing is any more not limited by the hardware on-board the marine installation.
  • the simulated connection (5') between the simulated equipment under control (3') simulates the real connection between such equipment as described previously. It may be a mechanical connection, an electrical connection, a hydraulic connection or any other connection that allows an equipment under control (3) to influence the operating conditions of another equipment under control (3).
  • the connection is an electric power cable from an electric power generator of a Power generating system controlled by a Power Management system (PMS) to an equipment under control (3) that is a consumer of electric power, such as drilling equipment, cranes, lifts, winches etc.
  • PMS Power Management system
  • a simulator (100) comprising simulation software (101), simulator hardware (103) and simulator operating system (102) is indicated.
  • the simulation software (101) comprises the simulated equipment under control (3') and the simulated connection (5).
  • the architecture of the simulator (100) may differ from this in another embodiment of the invention, e.g. each of the simulated equipment under control (3') and simulated connections (5') run on a separate simulator hardware (103) and operating systems (102).
  • each of the computer hardware (42) is a virtual machine in the Internet cloud. This means that the hardware emulators (40) are running on virtual machines, and the control system software (21) under test is running on the hardware emulators (40).
  • At least one of the one or more computer implemented simulators (100) are running on a virtual machine.
  • the test system comprises a control panel (70) with a control panel software (71) arranged to run on a control panel hardware (73) and communicate with at least one of the control system software (21), wherein the test system comprises an control panel hardware emulator (80), emulating the control panel hardware (73), and the control panel software (71) is running on the control panel hardware emulator (80).
  • control panel software (71) communicates with the control system software (21) as indicated by the arrow in Figure 3. Only one control panel (70) is indicated in the illustration, but one or more operator panel software (71) may run on one or more operator panel emulators (80), again running on one or more operating systems (81) and hardware (82).
  • test system comprises one or more control panel hardware emulators (80) running on one or more virtual machines.
  • hardware (82) is a virtual machine in the Internet cloud.
  • Power production is controlled by a Power Management System (PMS) and in an embodiment at least one of the control system software (21) is a Power Management System Software.
  • the Power Management System Software is typically part of a power management system, i.e. control system (2) with a PMS hardware, or control system hardware (23). In this embodiment the PMS hardware is emulated.
  • Figure 3 shows how the tested network can be accessed from one or more client locations (300), comprising one or more client terminals (500) connected to a physical network (400) connected to the network (4) between the computers in the test setup.
  • the client terminal (500) operates as a thin client by providing the graphical interface of the control panel software (71), by e.g. Remote Desktop or similar technology.
  • the control panel software 71
  • Roles may be e.g. tester, auditor, equipment and control system vendor etc.
  • the testing is not anymore limited by the availability of the hardware on the marine installation, or to the location where the hardware is located.
  • the test can be set-up and run without other dependencies, such as control system hardware (23).
  • Client terminals (500) in client locations (300) may connect to the appropriate or allowable control panel (70) of a test environment (200) over a private or public network, such as the Internet.
  • test environment can be set up just by ordering the required number of virtual machines from a cloud virtual server, and remotely installing the hardware emulators (40) and the control system software (21) for each control system, the simulator software (101) for each simulator, and the control panel hardware emulator (80) and the control panel software (71) for each control panel.
  • Configuration and communication between the different parts of the test system should preferably be set up as it would have been set up for a real system.
  • Access and control of the virtual test setup may be done by connecting to the virtual machines using remote desktop technology. This will allow multiple client terminals (500) to monitor and share control over the different virtual machines from any location with internet access.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Debugging And Monitoring (AREA)
  • Test And Diagnosis Of Digital Computers (AREA)

Abstract

La présente invention se rapporte à un système et à un procédé de test permettant de tester l'interfonctionnement d'au moins deux logiciels de système de commande (21) d'une installation de marine ou d'un navire (1), chaque logiciel de système de commande (21) étant agencé pour tourner sur un matériel de système de commande (23), et ledit matériel de système de commande (23) étant agencé pour être raccordé à un équipement sous contrôle (3). Le système de test comprend : un ou plusieurs simulateurs (100) mis en œuvre par ordinateur qui simulent lesdits au moins deux équipements sous contrôle (3) et un raccordement (5) entre lesdits au moins deux équipements sous contrôle (3) ; et au moins deux émulateurs de matériel (40) qui émulent ledit matériel de système de commande (23), ledit logiciel de système de commande (21) tournant sur lesdits au moins deux émulateurs de matériel (40).
PCT/NO2014/050018 2013-02-14 2014-02-05 Système et procédé de test permettant de tester l'interfonctionnement d'au moins deux logiciels de système de commande d'une installation de marine ou d'un navire WO2014126477A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020157011368A KR20150117634A (ko) 2013-02-14 2014-02-05 해양 설비 또는 선박의 2개 이상의 제어 시스템 소프트웨어의 상호연동을 테스팅하기 위한 테스트 시스템 및 방법

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361764652P 2013-02-14 2013-02-14
US61/764,652 2013-02-14
NO20130610A NO335328B1 (no) 2013-05-02 2013-05-02 Et testsystem og en fremgangsmåte for å teste samspillet mellom to eller flere kontrollsystemprogramvarer på en marin installasjon eller et fartøy
NO20130610 2013-05-02

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WO2014126477A1 true WO2014126477A1 (fr) 2014-08-21

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NO (1) NO335328B1 (fr)
WO (1) WO2014126477A1 (fr)

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CN106990720A (zh) * 2017-05-19 2017-07-28 关守平 基于实时云计算模型的虚拟控制实验平台及控制方法
CN110377594A (zh) * 2019-07-12 2019-10-25 中铁工程机械研究设计院有限公司 基于远程监控系统的大型铁路施工设备实时运动仿真方法
EP3629106A1 (fr) * 2018-09-28 2020-04-01 Siemens Aktiengesellschaft Système de simulation d'une installation industrielle

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KR102098905B1 (ko) * 2018-05-18 2020-04-09 슈어소프트테크주식회사 호스트의 테스트 시나리오로 제어장치의 복수의 파티션간 영향도를 측정하기 위한 방법, 동일 방법을 구현하기 위한 호스트 및 시스템, 그리고 동일 방법을 기록하기 위한 매체

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WO2004059411A1 (fr) 2002-12-30 2004-07-15 Marine Cybernetics As Systeme et procede de verification d'un systeme de regulation d'un batiment de mer
WO2005121915A1 (fr) 2004-06-08 2005-12-22 Marine Cybernetics As Procede de test de systeme de gestion de puissance et de positionnement dynamique combine
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106990720A (zh) * 2017-05-19 2017-07-28 关守平 基于实时云计算模型的虚拟控制实验平台及控制方法
CN106990720B (zh) * 2017-05-19 2020-06-23 关守平 基于实时云计算模型的虚拟控制实验平台及控制方法
EP3629106A1 (fr) * 2018-09-28 2020-04-01 Siemens Aktiengesellschaft Système de simulation d'une installation industrielle
CN110377594A (zh) * 2019-07-12 2019-10-25 中铁工程机械研究设计院有限公司 基于远程监控系统的大型铁路施工设备实时运动仿真方法

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NO20130610A1 (no) 2014-11-03
NO335328B1 (no) 2014-11-17
KR20150117634A (ko) 2015-10-20

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