A control method of a multi-layer fault-tolerant self-propelled ship model

Abstract

The invention discloses a control method of a multilayer fault-tolerant self-propelled ship model, which belongs to the field of self-propelled model tests. The method comprises that the algorithmic logic controller detects whether a hardware fault occurs in the ship model according to the first operating data and predetermined values ​​of the ship model, and generates a fault error word if a hardware fault occurs in the ship model; the motion controller detects whether the value of the timer is greater than the preset time; if the detected value difference is greater than the preset time, a fault error word is generated; a control command or a fault error word is sent; the FPGA solver receives a control command or a fault error word; when the control command is received, the timer is detected Whether the value is greater than the preset time; if it is detected that the value of the timer is greater than the preset time or a fault error word is received, the control motor stops running and the water tank is drained; it solves the problem that the self-propelled ship model is difficult to comprehensively deal with various abnormal situations Problem: It has achieved the effect of improving the program fault tolerance of the self-propelled ship model and improving the safety of the test.

Description

technical field [0001] The embodiments of the present invention relate to the field of self-propelled model testing, and in particular to a control method for a multi-layer fault-tolerant self-propelled ship model. Background technique [0002] In order to judge the pros and cons of the maneuverability of underwater vehicles such as ships, the free self-propulsion model is generally selected to complete the test disclosure under specific conditions, and the collected data is used to predict and analyze the maneuverability of the ship under actual sea conditions. [0003] Since the ship model is in a completely free state during the test, the controller in the ship model is connected to the main control terminal of the shore base through wireless connection. However, the wireless connection has great uncertainty. Once abnormal communication occurs, the ship model may lose control, which poses a great threat to the safety of the ship model and internal important equipment. ...

AI Technical Summary

Problems solved by technology

However, the wireless connection has great uncertainty. Once abnormal communication occurs, the ship model may lose control, which poses a great threat to the safety of the ship model and internal important equipment.

[0004] In addition, in addition to communication failures, the self-propelled ship model will also experience abnormal equipment operation during the test

The self-propelled ship model includes steering gear, paddles, thrusters and other equipment. The operating status of each device will be displayed on the interface of the shore-based main control terminal. The complicated data interface displayed prevents the operator from discovering the abnormal situation at the first time. In this case, it is easy to have a great impact on the safety of the ship model and internal important equipment.

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