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Unmanned ship autonomous navigation track tracking controller test simulation platform and working method

A technology of controller testing and track tracking, applied in two-dimensional position/course control, control/regulation system, non-electric variable control, etc., can solve problems such as poor practicability and low utilization of hardware resources, and avoid danger , Shorten the R&D cycle and save R&D costs

Active Publication Date: 2021-02-12
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention will design a kind of unmanned ship autonomous navigation track tracking controller test simulation platform and working method based on dSPACE real-time system, can realize track tracking controller in complex waters, narrow Function and performance testing in waterways and other restricted waters; and can solve the problems of low utilization rate of hardware resources and poor practicability of the real-time test platform built with dual-machine interconnection mode

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  • Unmanned ship autonomous navigation track tracking controller test simulation platform and working method
  • Unmanned ship autonomous navigation track tracking controller test simulation platform and working method
  • Unmanned ship autonomous navigation track tracking controller test simulation platform and working method

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings. Such as figure 1 As shown, the track tracking controller test simulation platform includes a man-machine interface 8, an I / O interface 2 and a ship motion simulation system; the ship motion simulation system includes a ship motion module 3, a propulsion system module 4, and a position measurement system module 5. Restricted water area module 6. Wind, wave and current disturbance module 7.

[0036] The setting of various control commands, the transmission and display of ship parameters and wind, wave and current parameters, the display of propeller status, the display of track curves, the display of restricted water areas and the archiving of test results are realized through the man-machine interface 8 . The control instructions include: an experiment start instruction, a restricted water area simulation instruction and an experiment end instruction. Commands set on th...

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Abstract

The invention discloses a test simulation platform and working method for an unmanned ship's autonomous navigation track tracking controller. The platform includes a PC and a DS2211 control board, and the PC is bidirectionally connected to the track tracking controller to be tested. ; The PC is bidirectionally connected to the DS2211 control board through the slot of the ISA interface. The man-machine interface and ship motion simulation system run on the PC; the dSPACE real-time system runs on the DS2211 control board. In the present invention, the DS2211 control board of the dSPACE real-time system is inserted into the PC, and real-time communication is carried out through the ISA bus. The ship motion simulation system can be directly simulated and run in real time on the control board, and the DS2211 control board realizes the target machine under the "dual machine interconnection mode". The real-time simulation function does not require a PC or an industrial control machine as the target machine, and solves the problems of low utilization of hardware resources and poor practicability of the test platform under the "dual machine interconnection mode".

Description

technical field [0001] The invention relates to the test technology in the field of unmanned ships, in particular to a test simulation platform for an unmanned ship autonomous navigation track tracking controller and a working method thereof. Background technique [0002] With the implementation of the national marine development strategy, the research and development of unmanned ships has received extensive attention. Considering issues such as navigation efficiency and safety, the unmanned ship needs to plan the desired optimal track through autonomous decision-making during the navigation process, and the track tracking controller controls the unmanned ship to navigate autonomously according to the expected optimal track. However, in the process of controlling the navigation of the unmanned ship by the track tracking controller, the unmanned ship will be affected by the disturbance of the randomly changing marine environment, and the change of the speed and load will caus...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 杜佳璐樊毅孙玉清高建丰巩海方
Owner DALIAN MARITIME UNIVERSITY
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