WO2016159430A1 - Verification system and method for dynamic positioning controller system of ship, verification system having analog signal simulator - Google Patents

Abstract

The present invention is a verification system for verifying a dynamic positioning controller system generating a control signal on the basis of a simulated sensor signal, the control signal comprising information on the final destination of a ship, and the verification system comprises: an actuator simulator which receives a control signal comprising information on the final destination of a ship as input and continuously generates a modeled control signal comprising thrust information; a ship simulator which receives the modeled control signal and performs ship motion analysis; a sensor simulator which measures the simulated sensor signal from the ship simulator; and an analog signal simulator which converts communication-type data into analog-type data, wherein the analog signal simulator may obtain accurate test results for the analog-type modeled control signal and simulated sensor signal.

Description

Verification system and method for dynamic positioning control system of ship with analog signal simulator

The present invention relates to a system for testing and verifying performance before installing a dynamic positioning control system of a ship on a ship, and constructing an analog ship by adding an analog signal generation simulator when performing a hardware in the loop simulation (HIL) test. The present invention relates to a verification system for a dynamic positioning control system of a ship that performs precise verification of an element.

The ship's Dynamic Positioning Controller System (DPC system) is a so-called in-position hold that allows the ship to automatically maintain a fixed position or predetermined route at sea, without using the ship's anchor or its combination with the anchor. It is used for station keeping.

For ships, the DPC system is very important in terms of ship safety and mission completion. For example, if the DPC system of a drilling vessel drilling oil in the deep sea fails to function properly, the drilling vessel may move to the wrong location and lose the connection between the petroleum connector and the drilling line connected to the deep sea. At this time, not only irreparable damage to the marine ecosystem with the oil flowing out of the broken connector, but also causes serious economic loss, threatening the safety of the workers on the drilling ship, and many problems.

Therefore, DPC systems can be affected by unexpected ship breakdowns (such as sensor failures or abnormal conditions) or external environments (wave speed abnormalities, wave strengths outside the expected range). Extensive testing is needed on how to operate in this abnormal condition as well as in the expected ship condition.

 On the other hand, the DPC system must be connected to a number of devices when installed on a ship, and if the DPC system does not operate normally after the ship is installed, replacing a new DPC system on the ship is often a matter of disconnecting and rejoining many connections. need. This requires excessive time effort and cannot rule out the possibility of a large number of faulty lines being connected, and there are many problems such as the difficulty of transporting a new DPC system from the land to the distant ocean where the ship exists if the ship is located in the distant ocean.

Therefore, even though the DPC system has been completed by the designer, there is a great need for a precise test of the DPC system before final mounting on the ship. On the other hand, during the production of the DPC system, a so-called Factory Acceptance Test (FAT) may be performed in which a manufacturer inputs a simulated sensor signal into the DPC system and monitors the response of the DPC system. There is a drawback in that it is not possible to verify the DPC system for a wide range of simulation situations because of the associated error.

Recently, the DPC system is connected to a simulator instead of a ship and is tested by HIL (Hardware In The Loop Simulation) simulation.However, to perform the HIL test, the DPC system is individually separated from many simulator devices such as an actuator simulator, a PMS simulator, a ship simulator, and a sensor simulator. You must connect physically. In this case, there is a problem that too much preparation time is required to perform the simulation for the DPC system. In addition, there is a problem in that it is not possible to exclude the possibility of incorrectly connecting the connection lines of a number of simulator devices to the DPC system, which does not obtain accurate test results.

On the other hand, during the operation of the ship, due to various factors, the DPC system may be changed due to replacement / repair of the sensors, actuators, cranes, etc. mounted on the ship, reprogramming, and the like. This could lead to instability of the certified DPC system and thus the risk of the vessel. Therefore, it is necessary to periodically check whether the DPC system has been changed, and if it is changed, to obtain a new certification, so as to prevent potential risks to the ship in advance. Therefore, it is necessary to check whether the DPC system has been changed by retesting the DPC system under the same test conditions as before in order to confirm whether the DPC system operates as intended and whether a new error may occur.

 However, when the performance or the performance of the DPC system controlling the devices by changing the conditions or limitations of the numerous devices installed on the ship are also correspondingly changed, it is necessary to repeat the test to confirm the change of the DPC system. However, conventionally, HIL test for DPC system does not store complex and extensive test condition and test result according to the condition. As it cannot be confirmed, it becomes difficult to compare and analyze the test results, and thus it is not possible to confirm whether the DPC system is changed, and there is a problem in that the ship is operating in a state exposed to potential danger.

As a result, there was room for controversy over the test results and there was a problem of not accurately describing the test results when preparing the report. As a result, the reliability of the test results was low, the utilization of the HIL test for the DPC system was low, and the utilization value as the certification data was low.

The present invention has been made to solve the problems of the prior art,

An object of the present invention is to provide an analog signal generation simulator, which is an integrated input / output interface, to a simulation system for verifying a DPC system, enabling accurate testing of components of a ship requiring analog control, and a dynamic positioning control system. It is to provide a verification system for the ship's dynamic positioning control system that provides the convenience of testing.

It is an object of the present invention to equip a simulation system for verifying a DPC system by equipping a data collection unit that stores complex and extensive test conditions and test results according to the conditions during the HIL test of the DPC system. By retesting the DPC system, it is possible to check whether the DPC system has been changed, thereby providing a verification system for the dynamic positioning control system of the ship that can determine whether the re-certification of the DPC system is required.

Another object of the present invention is to designate as if the DPC system was first authenticated when the conditions or limitations on the numerous devices installed on the vessel were changed by mounting the data collector so that the performance of the DPC system controlling the devices was also changed correspondingly. It is to provide a verification system for the ship's dynamic positioning control system that can check whether it is working as well as the possibility of new errors.

Another object of the present invention is to equip the data collection unit, it is possible to compare the test results corresponding to the initial test conditions, it is possible to determine whether the change in the DPC system in the future that the ship is operating in a state of potential risk exposure It is to provide a verification system for the ship's dynamic positioning control system.

Another object of the present invention is to equip the data collection unit, it is possible to automatically generate a report based on the stored test result data can provide the convenience of the test operator and the test requestor submits the report as evidence data for the DPC system It is to provide a verification system for the ship's dynamic positioning control system that can be certified by law.

Another object of the present invention is to modify the program of the DPC system before the final installation on the ship because the designer can verify that the DPC system has been completed by the HIL test connected to the simulator instead of the ship before the DPC system is mounted on the ship. You have a chance. Therefore, it is to provide a verification system for the ship's dynamic positioning control system that can accurately test the failure or abnormal operation of the components required for operation in the DPC system.

The present invention is implemented by the embodiment having the following configuration to achieve the above object.

According to an embodiment of the present invention, a verification system for verifying a dynamic positioning control system for generating a control signal including final purpose information of a ship based on a simulation sensor signal according to the present invention, wherein the verification system is a ship An actuator simulator that receives a control signal including final purpose information and continuously produces a modeled control signal including thrust information, a ship simulator receiving the modeled control signal and performing a ship motion analysis, and the ship A sensor simulator for measuring a simulated sensor signal in a simulator, and an analog signal simulator for converting analog data into communication data and transmitting the same to the actuator simulator, wherein the verification system provides an integrated analog interface. Mod like a real ship Service situation, characterized in that to obtain accurate test results for a modeled control signal, and a simulated sensor signals.

According to an embodiment of the present invention, the verification system according to the present invention includes a data collection unit for storing test conditions, and the data collection unit is any necessary for performing a test on the dynamic positioning control system. And a data storage module for storing data, wherein the data storage module stores a test condition module for storing test conditions and a test result for the dynamic positioning control system simulated by the verification system in association with test conditions. By analyzing the stored test results, including the test result module, the report is automatically generated to derive highly reliable test results for the modeled control signal and the simulated sensor signal.

According to an embodiment of the present invention, the data collection unit according to the present invention includes a report generation module for automatically generating a report on the test result for the dynamic positioning control system, the report generation module is the dynamic position Including the report type generation module that generates the report type according to the class requirements required for certification of the performance of the set-up control system, it analyzes the stored test results and automatically generates the report. It is characterized by obtaining a reliable test result for the signal.

According to one embodiment of the invention, the data collection unit according to the present invention includes a report generation module for automatically generating a report on the test results for the dynamic positioning control system, the report generation module is requested by the owner It includes a report type generation module that generates report types according to the requirements of ship owners, and analyzes the stored test results and automatically generates reports to derive highly reliable test results for modeled control signals and mock sensor signals. It is characterized by.

According to an embodiment of the present invention, the report generation module according to the present invention includes a report type storage module for storing a report generated by the report type generation module and a report type conforming to a standard corresponding to a test condition and the like. It includes a report type call module that is received by calling to the storage module, the test result real-time input module for storing the test results simulated by the verification system in real time and a test result call module for calling the test results stored in the test result module. A test result input module and a report output module for generating a report by writing a test result input to the test result input module in a report type called by the report type calling module to analyze a stored test result and automatically generating a report. Modeled by generating Reliability of the control signal and the simulated sensor signals, characterized in that for deriving the higher test results.

According to an embodiment of the present invention, the data collection unit according to the present invention includes a DP change confirmation module for comparing and analyzing the test results of the dynamic positioning control system by calling data stored in the data storage module, wherein the DP change The verification module includes a test condition call module for calling a test condition stored in the data storage module and a test result call module for calling a test result corresponding to the test condition. And a highly reliable test result for the control signal and the simulated sensor signal.

According to an embodiment of the present invention, the DP change confirmation module according to the present invention further comprises a DP comparison determination module for comparing and analyzing the called test result by analyzing the stored test results and automatically generating a report. It is characterized by deriving highly reliable test results for the modeled control signal and the simulated sensor signal.

According to another embodiment of the present invention, in the verification method for the dynamic positioning control system of the ship according to the present invention, the verification method is the final purpose information of the ship according to the internal algorithm based on the simulation sensor signal received from the controller Generate and transmit a control signal to the analog signal I / O module, and the analog signal I / O module outputs the control signal to the analog signal simulator to change the control signal to the analog form, and the analog signal simulator is analog form Analog signal generation step of converting the control signal containing the final purpose information of the vessel into the communication type and transmitting to the actuator simulator, and the actuator simulator transfers the control signal containing the final purpose information of the communication type of vessel from the analog signal simulator Modeling including thrust information A thrust information signal generation step of generating a control signal, a ship simulation step in which a ship simulator receives a modeled control signal including thrust information, and performs a ship motion analysis, and a sensor simulator measures the position of the ship simulator Including the step of measuring the sensor signal, the verification method provides a simulated situation similar to a real ship by providing a single analog interface integrated in the simulation of the dynamic positioning control system and modeled control signals and simulations. It is characterized in that the accurate test results for the sensor signal can be obtained.

According to another embodiment of the invention, the step of generating the thrust information signal according to the present invention further comprises the step of delivering a modeled control signal including the thrust information to the ship simulator by providing an integrated analog interface By providing a simulated situation similar to a ship, it is possible to obtain accurate test results for the modeled control signal and the simulated sensor signal.

 According to another embodiment of the present invention, the step of generating the thrust information signal according to the present invention is to pass the modeled control signal including the thrust information to the integrated input and output interface to the analog signal simulator to be fed back to the dynamic positioning control system In addition, by providing an integrated analog interface, it is possible to provide a simulated situation similar to a real ship to obtain accurate test results for the modeled control signal and the simulated sensor signal.

According to another embodiment of the present invention, the control signal according to the present invention is similar to a real ship by providing an integrated analog interface including signal information for controlling at least one of a shaft speed and a rotation direction for an actuator. By providing a simulation situation, it is possible to obtain accurate test results for the modeled control signal and the simulation sensor signal.

According to an embodiment of the present invention, the sensor simulator according to the present invention is a plurality of GPS sensors for detecting the position of the vessel by measuring the signal from the satellite and a plurality of the position of the vessel by measuring the signal from the device installed on the seabed By providing an integrated analog interface including at least two of the four sonar sensors, it is possible to provide a simulated situation similar to a real ship to obtain accurate test results for the modeled control signal and the simulated sensor signal. .

According to an embodiment of the present invention, the analog signal simulator according to the present invention converts the data of the communication type into the data of the analog type and transmits to the dynamic positioning control system to provide an integrated analog interface by providing a real ship By providing a simulated situation similar to, it is possible to obtain accurate test results for the modeled control signal and the simulated sensor signal.

The present invention has the following effects by the above configuration.

The present invention provides an analog signal generation simulator, which is an integrated input / output interface, to a simulation system for verifying a DPC system to improve analog noise simulation capability, thereby providing a simulation environment simulation similar to a real ship environment as well as dynamic. It has the effect of providing precise test execution of the positioning control system and convenience of test execution.

The present invention can store complex and extensive test conditions and test results according to the conditions during the HIL test of the DPC system in the simulation system for verifying the DPC system. By retesting, it is possible to check whether the DPC system has been changed, and thus, it is possible to determine whether recertification of the DPC system is required.

 In addition, the present invention, if the conditions or limitations for a number of devices installed on the vessel has been changed to correspondingly change the performance of the DPC system for controlling the devices, whether the DPC system is operating as intended as initially certified, Since the DPC system can be tested repeatedly based on the new possibility of error occurrence and the same test condition, it is possible to obtain the effect of closely verifying the performance according to the various specifications of the DPC system.

In addition, the present invention can be compared to the test results corresponding to the initial test conditions, so that it is possible to confirm whether the change in the DPC system in the future, the effect that can prevent the ship from operating in a state exposed to potential danger in advance Can be obtained.

In addition, the present invention can automatically save the test conditions and the test results for the conditions and automatically generate a report based on the stored data has the effect of reducing the dispute on the test results and increase the reliability.

In addition, the present invention can automatically generate a report according to the vessel's requirements and / or vessel owner's requirements based on the stored test result data can provide the convenience of test operators and improve the reliability of the report as evidence Therefore, it is effective to obtain certification related to related laws and regulations for DPC system.

In addition, the present invention can be verified repeatedly by HIL test that is connected to the simulator instead of the ship before the DPC system is finally mounted on the ship, and can be verified repeatedly, and by modifying the algorithm of the DPC system by improving the problem based on the verification result. Therefore, the present invention can be improved to the DPC system capable of coping with various situations on the ship's internal and external environment, and can effectively prevent the occurrence of problems such as irreversible economic losses that can occur due to the failure of the DPC system in the actual ship. have.

In addition, the present invention is to test and verify the function and fault response ability before the final installation of the DPC system on the ship, the test can detect hidden errors, parameters and design errors, DPC passed the future verification The system has the effect of enabling seamless integration with other ship systems.

1 is a configuration diagram for explaining a dynamic positioning control system connected to a plurality of simulator devices.

2 is a configuration diagram for explaining a dynamic positioning control system connected to a verification system for providing an analog signal simulator.

3 is a configuration diagram illustrating a dynamic positioning control system connected to a verification system including an analog signal simulator and a data collector.

4 is a block diagram illustrating in detail the data storage module of the data collection unit shown in FIG. 3.

FIG. 5 is a block diagram illustrating in detail the report generation module of the data collection unit illustrated in FIG. 3.

FIG. 6 is a block diagram illustrating a DP change confirming module of the data collecting unit shown in FIG. 3 in detail.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shape of the elements in the drawings are exaggerated to emphasize a more clear description.

Next, a verification system for a dynamic positioning control system of a ship having an analog signal simulator according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, a verification system for a dynamic positioning control system of a ship according to an embodiment of the present invention includes a dynamic positioning control system 10 and a verification system 20. The dynamic positioning control system 10 may include an analog signal I / O module 11 and a controller 12, and generates a control signal including the final purpose information of the ship according to an algorithm.

The analog signal I / O module 11 transmits or receives an analog signal with the verification system 20 and may include hundreds to thousands of I / Os to be connected to a number of simulation devices included in the verification system 20. Can be. Meanwhile, the analog signal I / O module 11 may receive analog data such as analog sensor data and signals from the verification system 20 and transmit the analog data to the controller 12.

The controller 12 controls the overall operation of the dynamic positioning control system 10 and receives the simulation sensor signal from the analog signal I / O module 11 to generate a control signal, and the control signal is the final purpose of the ship. May contain information. The connection line e shown in FIG. 1 represents that the controller 12 receives data from the analog signal I / O module 11 by a digital communication method.

In the present invention, the analog signal I / O module 11 may receive the analog signal from the verification system 20 and transmit the received data to the controller 12 in a digital communication method. In another embodiment, the analog signal I / O module 11 may receive a control signal from the controller 12 through a digital communication method, change the received data into an analog control signal, and transmit the received control signal to the verification system 20. .

Meanwhile, in the present invention, the dynamic positioning control system 10 corresponds to the ship's dynamic positioning controller system (DPC system), and the verification of the verification system 20 is performed by the designer with the completed device. When passed, it is mounted on the actual ship and controls the ship's dynamic position.

The dynamic positioning control system 10 includes an algorithm set by a user and is connected to the verification system 20 rather than the actual ship, thereby generating a control signal according to the algorithm for the simulation situation provided by the verification system 20. Is verified. In order to perform the verification of the present invention, the verification system 20 transmits a virtual simulation sensor signal to the dynamic positioning control system 10, and the dynamic positioning control system 10 firstly based on the received simulation sensor signal. Generate a control signal.

The control signal is information about a final target point where the actual ship is to be located, and may include signal information for controlling any one or more of a shaft speed and a rotation direction corresponding to a force and a direction of moving the actuator.

The present invention inputs a control signal containing the final purpose information of the vessel generated by the controller 12 to the verification system 20 for providing a virtual vessel environment to execute the simulation and return the result to the dynamic positioning control system ( To 10).

The controller 12 receiving the feedback simulation sensor signal generates a control signal including the final purpose information of the ship, and as the feedback is repeated, the control signal is sequentially generated repeatedly. According to this feedback process, whether the dynamic positioning control system 10 generates a normal control signal under a given condition is verified by visually confirming that the ship model displayed on the monitor (not shown) moves in response to the control signal. Can be.

The verification system 20 includes an actuator simulator 21, a PMS simulator 22, a ship simulator 23, and a sensor simulator 24, and generates a simulation situation according to test conditions to generate a dynamic positioning control system 10. Verify performance against In the present invention, the verification system 20 may be implemented as a hardware in the loop simulation (HIL) test that is connected to the simulator instead of the ship.

The dynamic positioning control system 10 is connected to the actuator simulator 21 via a connecting line (a) and connecting line (b), through the connecting line (c) to the PMS simulator 22, and through the connecting line (d) to the sensor simulator (24). Each is individually connected to the simulator and the verification system 20 performs a simulation for testing the dynamic positioning control system 10.

In FIG. 1, four lines are briefly shown as connecting lines (a) to (d). However, in order to perform the HIL test on the actual dynamic positioning control system 10, the connecting lines (a) to (d) are included in the connecting lines (a) to (d). Numerous wires must be individually connected to the internal analog signal I / O module 11 of the dynamic positioning control system 10. Accordingly, the analog signal I / O module 11 may have as many I / Os as the number of corresponding connection lines in order to connect a number of lines included in the connection lines (a) to (d).

The actuator simulator 21 is implemented with parameters similar to the actuator of the actual ship, and continuously transmits a control signal to the ship simulator 23 similar to the actuator mounted on the actual ship. The control signal generated by the actuator simulator 21 is defined as a modeled control signal including thrust information, and the thrust information refers to information on the force and direction provided by the actuator.

For example, if the current vessel is located at 30 ° north latitude / 30 ° east long, and a control signal having information that the target point of the ship is 50 ° north latitude / 50 ° east long is transmitted to the actuator simulator 21, the actuator simulator 21 May transmit information about the force and direction produced by the actuator per unit time (or per minute) to the ship simulator 23.

 The actuator simulator 21 continuously transmits the information on the force and direction provided from the actuator to the ship simulator 23 until the ship reaches the final target point, and the related information is transmitted to the analog signal I / O module 11. To pass. It also requests the PMS simulator 22 for the required power.

The PMS simulator 22 is a power management system (PMS) that is a power system that provides power for a ship. When the PMS simulator 22 transmits a power request signal from the actuator simulator 21, the PMS simulator 22 transmits a value corresponding to the requested power to the actuator simulator 21 and transmits the related information to the analog signal I / O module 11.

Ship simulator 23 can be modeled similar to the actual ship to perform the motion analysis of the ship. For example, the actual actuator target control value transmitted from the dynamic positioning control system 10 passes the actuator simulator 21 to the ship simulator 23 about the force and direction produced similarly to the actual actuator response. The ship simulator 23 performs the motion analysis of the ship corresponding to the control signal.

The sensor simulator 24 performs a simulation to simultaneously or selectively measure the position and speed of the ship simulator 23 according to the motion analysis result of the ship simulator 23, and converts the simulated simulation sensor signal into an analog signal I / O module ( 11) to pass.

The sensor simulator 24 is a GPS sensor (not shown) for detecting the position of the ship by measuring a signal from the satellite, a sonar sensor (not shown) for detecting the position of the ship by measuring the signal from a device installed on the sea floor and the ship It may include a virtual sensor such as a wind sensor (not shown) for measuring the wind of the location of the location. Each of the virtual sensors may be realized as one or more.

Therefore, when the ship simulator 23 performs the motion analysis in response to the control signal transmitted from the actuator simulator 21, the plurality of virtual sensors may detect the motion position and the bow direction of the ship, which are analyzed in real time or at regular intervals. The simulation is performed to generate a simulated sensor signal by measuring and converting it into latitude / longitude and azimuth information, and the sensor simulator 24 transmits the simulated simulated sensor signal to the analog signal I / O module 11.

Referring to FIG. 2, the verification system 200 according to another embodiment of the present invention may include an actuator simulator 210, a PMS simulator 220, a ship simulator 230, a sensor simulator 240, and an analog signal simulator 250. Verify the performance of the dynamic positioning control system 100 for abnormal simulation according to the test conditions. The functions of the other components are the same as those described above, and the contents related to the analog signal simulator 250 will be described in detail below.

As described above, referring to FIG. 1, when connecting the dynamic positioning control system 10 to the verification system 20 to perform a test on the dynamic positioning control system 10, an analog signal I / O module ( 11) needs to be connected to numerous simulation devices included in the verification system 20 through hundreds to thousands of I / O. However, in this case, the operation of connecting / disconnecting the analog signal I / O module 11 through physically hundreds to thousands of I / Os through numerous connection lines (a) to (d) is not only inefficient in time and space. However, there is also a possibility of misconnection, making it difficult to accurately verify the dynamic positioning control system 10.

Accordingly, according to another embodiment of the present invention, an analog signal simulator 250, which is an integrated input / output interface, is provided.

1 and 2, the analog signal simulator 250 transmits an analog signal I / O module 11 in an analog form through a single connection line a2, so that the analog signal I / O module 11 Internally, the signal may be changed into a digital communication form through the connection line e and transmitted to the controller 120. Accordingly, according to another embodiment of the present invention, the analog signal simulator 250 may transmit analog signal information to the dynamic positioning control system 100 through a single connection line a2.

In addition, the analog signal simulator 250 may make natural noise to make it similar to the situation in a real ship and transmit it to the analog signal I / O module 110 along with the simulation result. The analog signal simulator 250 receives a control signal including the final purpose information of the analog vessel from the analog signal I / O module 110 and converts the received control signal into a communication type to the actuator simulator 210. To pass. Then, when the simulation of the control signal of the communication type is performed in the verification system 200, the analog signal simulator 250 converts the result into an analog form and transmits the result to the analog signal I / O module 110.

Therefore, basically, the analog signal simulator 250 may exchange data with the analog signal I / O module 110 in an analog form through a single connection line a2, and the analog signal I / O module 110 may be input. The analog signal may be converted into a digital communication form and transmitted to the controller 120.

 While the verification system 200 performs simulation for the dynamic positioning control system 100 by individually or simultaneously changing the values for the actuator simulator 210 and the sensor simulator 240, the analog signal simulator 250 is performed. Converts the control signal including the final purpose information of the vessel into the communication form and transmits it to the actuator simulator 210, converts the simulation result of the communication form into the analog form, and feeds it back to the analog signal I / O module 110 for analog This allows accurate testing of the value and can provide convenience for test execution.

Here, the analog signal simulator 250 is a control signal and a simulated sensor modeled in a communication form to perform a communication for feeding back a modeled control signal and a simulated sensor signal including the thrust information to the dynamic positioning control system 100 The signal can be converted into analog form for transmission.

Verification method for the dynamic positioning control system of the ship according to another embodiment of the present invention is an event input step (S100), control signal output step (S200), analog signal generation step (S300), thrust information signal generation step (S400) ), Ship simulation step (S500), simulation sensor signal measurement step (S600).

The event input step S100 includes a simulation step of transmitting the event to the analog signal I / O module 110 when the sensor simulator 240 generates a simulated sensor signal (event).

Next, the control signal output step (S200) generates a control signal including the final purpose information of the vessel according to the internal algorithm based on the simulation sensor signal received from the analog signal I / O module 110 by the controller 120 And a simulation step of transmitting the analog signal to the I / O module 110. At this time, the analog signal I / O module 110 changes the control signal including the final purpose information into an analog form and transmits it to the analog signal simulator 250.

Analog signal generation step (S300) includes the analog signal simulator 250 receives a control signal including the final purpose information of the analog form, converts the received control signal into a communication form and transmits it to the actuator simulator 210 do.

Next, in the thrust information signal generation step (S400), the actuator simulator 210 receives the control signal of the communication type including the final purpose information of the ship from the analog signal simulator 250, the modeled control signal including the thrust information It includes a simulation step to generate. Test conditions may include basic conditions and other abnormal conditions for testing whether the dynamic positioning control system 100 is normally executed according to the designed algorithm.

The thrust information signal generating step S400 may further include transmitting a modeled control signal including thrust information of a communication type to the ship simulator 230. The thrust information signal generating step S400 may further include transmitting the modeled control signal to the analog signal simulator 250.

Next, the ship simulation step S500 includes a simulation step in which the ship simulator 230 receives a modeled control signal including thrust information and performs ship motion analysis. The ship simulator 230 may be designed to have the same parameters as the actual ship to produce the same effect as the actual ship moving.

Next, the simulation sensor signal measurement step (S600) includes a step in which the sensor simulator 240 performs a simulation to simultaneously or selectively measure the position and the speed of the ship simulator (230). Simulation sensor signal measurement step (S600) may further comprise the step of transmitting the simulated sensor signal of the simulated communication type to the analog signal simulator (250).

Next, in the feedback step S700, the analog signal simulator 250 converts the modeled control signal and the simulated sensor signal including the final purpose information of the communication type into an analog form to convert the analog signal I / through the connector a2. And transmitting to the O module 11.

3 to 6, the verification system 200 according to another embodiment of the present invention includes an actuator simulator 210, a PMS simulator 220, a ship simulator 230, a sensor simulator 240, and an analog signal simulator. 250 and the data collection unit 260 stores the test results for the dynamic positioning control system 100 and automatically generates a report. The functions of the other components are the same as those described above, and the contents related to the data collection unit 260 will be described in detail below.

The data collection unit 260 includes a data storage module 261, a report generation module 262, and a DP change confirmation module 263, and automatically stores the test results for the dynamic positioning control system 100 by storing the test results. Create

Referring to FIG. 4, the data storage module 261 includes a test condition module 261a, a test result module 261b, and a report result module 261c, and performs a simulation on the dynamic positioning control system 100. It stores all the data necessary for the process.

The test condition module 261a stores test conditions for verifying the performance of the dynamic positioning control system 100. The test condition includes a condition for testing whether the performance specified in the related laws and regulations of the dynamic positioning control system 100 is satisfied, and a condition for testing whether the owner satisfies the requested performance.

On the other hand, while the ship is in operation, due to various factors, the dynamic positioning control system 100 may be changed due to replacement / repair of the sensors, actuators, cranes, etc. mounted on the ship, reprogramming, and the like. The modified dynamic positioning control system 100 may be difficult to integrate with other ship systems, resulting in ship hazards.

Therefore, it is necessary to periodically check whether the dynamic positioning control system 100 has been changed, and if changed, it should be able to preemptively prevent potential dangers that may be caused to the ship by receiving a new certification. Therefore, by re-testing the dynamic positioning control system 100 with the same test conditions as before to confirm whether the dynamic positioning control system 100 is operating as intended as originally authenticated and the likelihood of a new error occurring, It is necessary to confirm whether or not the dynamic positioning control system 100 has been changed.

Accordingly, the test condition module 261a of the present invention has a dynamic position when the conditions or limitations of a number of devices installed in the ship are changed and the performance of the dynamic positioning control system 100 for controlling the devices is also changed correspondingly. In order to check whether the configuration control system 100 is changed, a complicated and extensive test condition necessary during the HIL test may be stored.

That is, the test condition module 261a provides the verification system 200 with test conditions for events (simulation situations) related to normal or abnormal situations that may occur in the ship. In accordance with embodiments of the present invention, events may be provided simultaneously or selectively to actuator simulator 210 and sensor simulator 240 to test dynamic positioning control system 100 for various simulation situations.

The test result module 261b stores test results simulated by the verification system 200. The test result is stored in the test result module 261b in conjunction with the test condition and distinguishes and stores the test result for each component of the ship such as the actuator simulator 210 and the sensor simulator 240.

On the other hand, when there is a need to repeat the test to check whether the dynamic positioning control system 100 for controlling the devices by changing the conditions or limitations for a number of devices installed on the vessel, the test results The module 261b may store test results corresponding to vast test conditions.

Accordingly, the test result module 261b can provide test results corresponding to a wide range of test conditions to the report generation module 262 and the DP change confirmation module 263, thereby facilitating comparative analysis of the test results and dynamic positioning. It is easy to check whether the control system 100 has been changed to prevent the ship from operating in a state of potential danger.

The report result module 261c may store the report together with a test date of the report generated by the report generation module 262. Therefore, a report on a test result corresponding to various conditions stored in the report result module 261c can be easily found for each test date and used as a comparative analysis data.

Referring to FIG. 5, the report generating module 262 includes a report type generating module 2621, a report type storing module 2622, a report type calling module 2623, a test result input module 2624, and a report output module 2625. ), And automatically generate a report on the test results of the dynamic positioning control system (100).

The report type generation module 2621 is a report type according to a standard corresponding to the classification requirements required for authenticating the performance of the dynamic positioning control system 100 or the owner requirements requested by the owner for the dynamic positioning control system 100. Create The present invention is not limited thereto, and the report type generating module 2621 may generate report types meeting various standards.

The report type storage module 2622 stores the report generated by the report type generating module 2621 and transfers the report to the report type calling module 2623 when the report type calling module 2623 is called.

The report type call module 2623 receives a report type conforming to a specification to the report type storage module 2622 in response to test conditions and the like.

 The test result input module 2624 includes a test result real-time input module 2624a and a test result call module 2624b to input test results corresponding to test conditions necessary for preparing a report.

The test result real-time input module 2624a may store the test result simulated by the verification system 200 in real time. On the other hand, the test result call module 2624b may call a test result that is already simulated in the verification system 200 and stored in the test result module 261b.

The report output module 2625 generates a report by writing the test result input to the test result input module 2624 in the report type called by the report type call module 2623.

Referring to FIG. 6, the DP change check module 263 includes a test condition call module 263a, a test result call module 263b, and a DP comparison determination module 263c, and test results for a plurality of test conditions. Compare and analyze.

When reprogramming the dynamic positioning control system 100 that controls the devices by replacing / repairing sensors, actuators, etc. mounted on the ship, to check whether the changed contents are working as intended and whether new errors may occur. The verification system 200 may retest the dynamic positioning control system 100 under the same test conditions as before. Test conditions and corresponding test results are stored in the test condition module 261a and the test result module 261b, respectively.

The test condition call module 263a calls from the test condition module 261a a condition for a simulation situation related to a normal or abnormal situation that may occur in the ship.

The test result call module 263b calls a plurality of test results corresponding to the test condition from the test result module 261b. The present invention is not limited to calling a plurality of test results according to the same test condition for the dynamic positioning control system 100, and includes calling a plurality of test results according to different test conditions.

The test result call module 263b may classify and call test results for each component in order to analyze the effects of individual components such as the actuator simulator 210 and the sensor simulator 240 on the dynamic positioning control system 100. have. Here, the actuator simulator 210 and the sensor simulator 240 may provide the dynamic positioning control system 100 with simulation situations corresponding to the actuators and the sensors mounted on the actual ship, respectively.

The DP comparison determination module 263c performs the same test condition when the conditions or limitations of the numerous devices installed in the ship are changed and the performance of the dynamic positioning control system 100 controlling the devices is also changed correspondingly. The test result of the changed dynamic positioning control system 100 may be compared with the initial test result and analyzed. Therefore, when reprogramming the dynamic positioning control system 100, it is possible to check whether the changed contents work as intended and whether a new error may occur.

In addition, the DP comparison determination module 263c compares and analyzes the test results and other various test results simulated by the verification system 200 according to the specification of the dynamic positioning control system 100 so that the change of the test condition is changed to the dynamic positioning control system. The effect on (100) can be compared and analyzed.

If the DP comparison determination module 263c compares and analyzes the test result and determines that the dynamic positioning control system 100 has been changed, the changed dynamic positioning control system 100 requires new authentication.

Accordingly, the DP comparison determination module 263c may determine whether the dynamic positioning control system 100 is subject to reauthentication before receiving new authentication. When the changed dynamic positioning control system 100 has no difference in performance compared to the conventional dynamic positioning control system 100, the changed dynamic positioning control system 100 may be mounted and used on a ship without requiring re-authentication. If a difference occurs and the difference is determined to be a recertification target beyond the allowable range, the DP comparison determination module 263c may determine that the changed dynamic positioning control system 100 is a recertification target.

The foregoing detailed description illustrates the present invention. In addition, the above-mentioned contents show preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. That is, changes or modifications may be made within the scope of the concept of the invention disclosed in the present specification, the scope equivalent to the disclosed contents, and / or the scope of the art or knowledge in the art. The described embodiments illustrate the best state for implementing the technical idea of the present invention, and various modifications required in the specific application field and use of the present invention are possible. Thus, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. Also, the appended claims should be construed to include other embodiments.

Claims (13)

1. A verification system for verifying a dynamic positioning control system for generating a control signal including final purpose information of a ship based on a simulation sensor signal,

   The verification system includes an actuator simulator for continuously receiving a control signal including final purpose information of a ship and continuously producing a modeled control signal including thrust information, and a ship performing a ship motion analysis by receiving the modeled control signal. A simulator, a sensor simulator for measuring a simulated sensor signal in the ship simulator, an analog signal simulator for converting analog data into communication data and transmitting the data to the actuator simulator;

   The verification system provides an integrated analog interface to provide a simulated situation similar to that of a real ship, so that a ship having an analog signal simulator having an analog signal simulator can obtain accurate test results for the modeled control signal and the simulated sensor signal. Verification System for Dynamic Positioning Control System.
2. The system of claim 1, wherein the verification system is

   A data collection unit for storing test conditions,

   The data collection unit includes a data storage module for storing any data necessary for performing a test on the dynamic positioning control system,

   The data storage module analyzes the stored test results including a test condition module for storing test conditions and a test result module for storing the test results for the dynamic positioning control system simulated in the verification system in association with test conditions. And a dynamic positioning control system for a ship having an analog signal simulator that generates a reliable test result for the modeled control signal and the simulated sensor signal by automatically generating a report.
3. The method of claim 2, wherein the data collection unit

   A report generation module for automatically generating a report on a test result for the dynamic positioning control system,

   The report generation module includes a report type generation module for generating a report type in accordance with a standard corresponding to the classification requirements required for authenticating the performance of the dynamic positioning control system. Verification system for a dynamic positioning control system of a ship having an analog signal simulator which produces a modeled control signal and a reliable test result for a simulated sensor signal.
4. The method of claim 2, wherein the data collection unit

   A report generation module for automatically generating a report on a test result for the dynamic positioning control system,

   The report generation module includes a report type generation module for generating a report type according to a shipowner's request, and analyzes the stored test results and automatically generates a report to control the modeled control signal and the simulation sensor signal. Verification system for a dynamic positioning control system of a ship having an analog signal simulator that produces reliable test results for the ship.
5. The method of claim 3 or 4, wherein the report generation module

   A report type storage module for storing a report generated by the report type generating module, a report type calling module for receiving a report type conforming to a specification in response to a test condition, and the like by calling the report type storage module in a call; A test result input module including a test result real time input module for storing the test result simulated in real time and a test result call module for calling the test result stored in the test result module, and a report type called by the report type call module. Reliable test results for the modeled control signal and the simulated sensor signal by automatically generating the report by analyzing the stored test result including a report output module for generating a report by writing the test result input to the test result input module To derive Verification system for ship dynamic positioning control system with analog signal simulator.
6. The method of claim 5, wherein the data collection unit

   And a DP change confirmation module for comparing and analyzing a test result of the dynamic positioning control system by calling data stored in the data storage module.

   The DP change confirmation module includes a test condition call module for calling a test condition stored in the data storage module and a test result call module for calling a test result corresponding to the test condition. Verification system for a dynamic positioning control system of a ship having an analog signal simulator which generates a modeled control signal and a reliable test result for the simulated sensor signal.
7. The method of claim 6, wherein the DP change confirmation module,

   And a DP comparison determination module for comparing and analyzing the called test results, and analyzing the stored test results to automatically generate a report to obtain a reliable test result for the modeled control signal and the simulated sensor signal. Verification system for a dynamic positioning control system of a ship with a simulator.
8. In the verification method for the dynamic positioning control system of the ship,

   The verification method generates a control signal including the final purpose information of the vessel according to the internal algorithm based on the simulation sensor signal received from the controller and transmits the control signal to the analog signal I / O module, the analog signal I / O module sends the control signal A control signal output step of converting an analog type to an analog signal simulator, and an analog signal generating step of converting a control signal including the final purpose information of the analog type vessel into a communication type and transmitting the result to an actuator simulator; And a thrust information signal generation step of generating a modeled control signal including thrust information by the actuator simulator receiving the control signal including the final purpose information of the communication type from the analog signal simulator, and the ship simulator including the thrust information. Modeled control console Receiving the vessel and in a simulation step of performing ship motion analysis, the sensor simulator comprises a simulated measured signal sensor measuring the position of the vessel simulator,

   The verification method provides a simulated situation similar to a real ship by providing an integrated analog interface in the simulation of the dynamic positioning control system, and provides accurate test results for the modeled control signal and the simulated sensor signal. Verification method for dynamic positioning control system of ship having analog signal simulator that can be obtained.
9. The method of claim 8, wherein the thrust information signal generating step

   Accurate testing of the modeled control signal and the simulated sensor signal by providing a single analog interface that provides an integrated analog interface, further comprising transmitting a modeled control signal including thrust information to the ship simulator. Verification method for dynamic positioning control system of ship having analog signal simulator which can get results.
10. The method of claim 10, wherein the thrust information signal generating step

    Providing a modeled control signal including the thrust information to the integrated signal input and output interface to the analog signal simulator to feed back to the dynamic positioning control system to provide a single analog interface to provide a simulated situation similar to the actual ship Verification method for a dynamic positioning control system of a ship having an analog signal simulator that can obtain accurate test results for the control signal and the simulated sensor signal.
11. The method of claim 1, wherein the control signal is

    Provides an integrated analog interface including signal information that controls at least one of shaft speed and direction of rotation for the actuator to provide a simulated situation similar to a real ship, allowing accurate testing of modeled control and simulated sensor signals Verification system for a dynamic positioning control system of a ship having an analog signal simulator with an analog signal simulator to obtain a result.
12. The method of claim 1, wherein the sensor simulator

    Integrated analog interface including at least two of a plurality of GPS sensors for detecting the position of the vessel by measuring signals from satellites and a plurality of sonar sensors for detecting the position of the vessel by measuring signals from devices installed on the sea floor Verification system for dynamic positioning control system of ship having analog signal simulator with analog signal simulator which can provide accurate test results for modeled control signal and simulated sensor signal by providing simulation similar to real ship .
13. The method of claim 1, wherein the analog signal simulator

    By converting the data of the communication type into the data of the analog type and transmitting it to the dynamic positioning control system to provide an integrated analog interface, it provides a simulated situation similar to that of a real ship. Verification system for a dynamic positioning control system of a ship having an analog signal simulator having an analog signal simulator for obtaining test results.

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