A kind of ship motion control experiment system and its working method

Abstract

The invention discloses a ship movement control experimental system and a work method thereof. The system comprises a main control computer, an Ethernet switch, an emergency remote control handle, a computer learning module, an on-shore wireless communication module, an onboard wireless communication module, an onboard computer, a Beidou navigation system, a ship compass and a reduced-scale ship model. The main control computer comprises a human-computer interaction interface which is achieved on the basis of LabView development, RT-LAB is applied to generate C codes of a Matlab / Simulink model of ship movement controllers to be verified by experiments, the C codes are compiled and uploaded to the onboard computer which runs a real-time operation system QNX, various ship movement controllers to be verified by experiments can be directly operated, researchers can conveniently and quickly carry out various complex experiment verifications on the ship movement controllers through the experimental system, experimental research workload is reduced, and the content and range of experiments are widened.

Description

technical field [0001] The invention relates to the technical field of automatic control of ship motion and its experimental verification, in particular to an experimental research platform for a ship motion control system based on a scale model ship and its working method, which can be used for various ship motion controllers The experimental verification research can also be used in the experimental teaching of the "ship motion control" course. Background technique [0002] The marine transportation industry is an important basic industry for economic and social development, and plays an important role in safeguarding national economic security and maritime rights and interests, promoting industrial transformation and upgrading, and promoting the development of foreign trade. In recent years, my country's shipping industry has developed rapidly, which also puts forward higher requirements for the control performance of the ship motion control system. The safety of shippin...

AI Technical Summary

Problems solved by technology

The system can realize the verification of the ship's heading and track controller, but it does not have a user interface to visually display the experimental results; the user is required to write the controller code in the ship-borne industrial computer, and it is not easy to adjust the control parameters; it does not have the emergency treatment mode function, Unable to deal with emergencies such as scaled-down ship model out of control in time

[0006] In summary, the existing semi-physical simulation platform or system has the following problems: (1) The semi-physical simulation platform / system uses the mathematical model of the motion of the ship or drilling platform to perform numerical calculations to obtain the simulated motion state of the ship or drilling platform, and then through different The physical module shows the motion state of the ship or drilling platform, which is not substantially different from the pure numerical simulation; (2) The hardware-in-the-loop simulation system based on the scaled-down ship model requires writing the code of the controller to be verified into the industrial computer. It is not easy to program when it is complex, and it does not have the function of emergency treatment mode; (3) Each platform / system can only carry out experimental verification of certain specific ship motion controllers

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