Electrical control system of hardware-in-the-loop testing device for dynamic positioning control system

Abstract

The invention discloses an electrical control system for a hardware-in-the-loop testing device of a dynamic positioning control system, and the system comprises a power supply and protection unit which is used for providing a DC power supply needed by the hardware-in-the-loop testing device, and carrying out the power distribution and protection of an AC power supply and the DC power supply; the control and signal unit is used for inputting and outputting simulation signals and processing a signal simulation algorithm, and is externally connected to a dynamic positioning control system; the operation and display unit is used for setting test parameters and modes, displaying a current simulation signal output result in real time, and analyzing, processing and storing a test result; the wiring unit is used for being electrically connected with the dynamic positioning control system; and the signal simulation unit is used for processing and controlling simulation signals of the hardware-in-the-loop testing device and providing the simulation signals required during testing. The method can be used for testing and debugging in a laboratory, does not need to be used for testing in a real ship, and can reduce the testing period and cost.

Description

Technical Field

[0001] The present invention relates to a dynamic positioning control system in the field of ship equipment, and more specifically to an electrical control system of a hardware-in-the-loop test device for a dynamic positioning control system. Background Art

[0002] The dynamic positioning control system is a control system that maintains the ship's heading, position and other parameters. It receives signals from external sensors such as wind, position, attitude, and heading, and then processes them through control algorithms to output signals to control the ship's propellers. The above purpose is achieved through changes in the propeller power and rudder angle. As a system with a high safety level requirement on a ship, how to correctly test the function of the dynamic positioning control system and ensure its safety is an important research direction.

[0003] The existing testing method of dynamic positioning control system is generally to wait until the initial software is written and integrated, and the signals of external wind, position, attitude, heading and other sensors required by the dynamic positioning control system on the ship are connected to the system, and the thruster control system is debugged before the dynamic positioning control system can be tested, modified and verified. Generally, at this time point, the ship is about to be delivered, and there is not enough time for testing and modification, and multiple types of work are cross-operated. At this time, it is impossible to fully and reliably control the product quality of the dynamic positioning control system. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide an electrical control system for a hardware-in-the-loop test device of a dynamic positioning control system, which can be used for testing and debugging in the laboratory without the need for testing on a real ship, thereby reducing the test cycle and cost.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An electrical control system for a hardware-in-the-loop test device for a dynamic positioning control system, comprising:

[0007] The power supply and protection unit is used to provide the DC power required by the hardware-in-the-loop test device, and to distribute and protect the AC power supply and DC power supply respectively;

[0008] The control and signal unit is used to realize the input and output of simulation signals and the processing of signal simulation algorithms, and is externally connected to the dynamic positioning control system;

[0009] Operation and display unit, used to set test parameters and modes, and to display the current simulation signal output results in real time, and to analyze, process and save the test results;

[0010] A wiring unit, used for electrically connecting to the dynamic positioning control system;

[0011] The signal simulation unit is used to process and control the simulation signal of the hardware-in-the-loop test device and provide the simulation signal required for the test.

[0012] Preferably, the power supply and protection unit comprises:

[0013] A switching power supply, which converts AC power into DC power;

[0014] Circuit breakers, including AC circuit breakers and DC electronic circuit breakers;

[0015] The AC circuit breaker is used to protect the AC power supply from overload and short circuit;

[0016] The DC electronic circuit breaker is used for DC power distribution and overload and short circuit protection of the DC power supply.

[0017] Preferably, the control and signal unit includes a main controller, an input module, an output module, a communication module and a relay;

[0018] The main controller is connected to the input module, the output module, and the communication module;

[0019] The input module includes a digital quantity input module and an analog quantity input module, wherein the digital quantity input module is used to receive a digital quantity signal output by the dynamic positioning control system, and the analog quantity input module is used to receive an analog quantity signal output by the dynamic positioning control system;

[0020] The output module includes a digital output module and an analog output module, the digital output module is connected to the coil of the relay, and is connected to the dynamic positioning control system through the passive contact point of the relay, and the analog output module is used to output analog signals to the dynamic positioning control system;

[0021] The communication module is used to provide a serial port or Ethernet signal to the dynamic positioning control system.

[0022] Preferably, the main controller is a central processing unit of a programmable logic controller;

[0023] The main controller is connected to the input module, the output module and the communication module via a field bus or industrial Ethernet or an internal bus of a programmable logic controller.

[0024] Preferably, the operation and display unit comprises an industrial computer with a touch screen;

[0025] The industrial computer establishes a communication connection with the main controller.

[0026] Preferably, the industrial computer is also connected to a keyboard and a mouse.

[0027] Preferably, the signal simulation unit includes a ship motion simulation program, a thruster simulation program, a power management system simulation program and a fault mode simulation program running in the main controller.

[0028] Preferably, the electrical control system is integrated and installed on a control cabinet.

[0029] Preferably, the bottom of the control cabinet is provided with rubber wheels.

[0030] The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system provided by the present invention provides a convenient, fast and efficient electrical control system for hardware-in-the-loop testing of the dynamic positioning control system, which can speed up the testing process of the dynamic positioning control system, save a lot of time and financial costs for actual ship testing, and facilitate product optimization and updating. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the framework structure of the electrical control system of the present invention;

[0032] Figure 2 Schematic diagram of an electrical control system of the present invention installed in a control cabinet, (a) is a front view of the outside of the control cabinet, (b) is a front view of the inside of the control cabinet, and (c) is a side view of the outside of the control cabinet;

[0033] Figure 3 It is a connection diagram of the electrical control system and the dynamic positioning control system of the present invention. DETAILED DESCRIPTION

[0034] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0035] Combination Figures 1 to 3 As shown, the present invention provides an electrical control system for a hardware-in-the-loop test device for a dynamic positioning control system, comprising:

[0036] The power supply and protection unit 2 is used to provide the DC power required by the hardware-in-the-loop test device, and to distribute and protect the AC power supply and DC power supply respectively.

[0037] The control and signal unit 3 is used to implement the input and output of simulation signals and the processing of signal simulation algorithms, and is externally connected to the dynamic positioning control system 1 .

[0038] The operation and display unit 4 provides the human-machine interface required for testing. The test personnel can set the test parameters and modes through the keyboard, mouse and touch screen, and display the current simulation signal output results in real time, and analyze, process and save the test results.

[0039] The wiring unit 5 is used for electrical connection with the dynamic positioning control system 1. In order to speed up the connection efficiency of the external cables, cable sockets and plugs are used to enable fast plugging and unplugging operations.

[0040] The signal simulation unit 6 is used to process and control the simulation signals of the hardware-in-the-loop test device, and provide simulation signals of various sensors, thrusters, power management systems, and fault modes required for testing.

[0041] The power supply and protection unit 2 includes a switching power supply 21 and a circuit breaker 22. Generally, an AC power supply of 220V can be provided in an office or laboratory, and then a switching power supply 21 is configured in the electrical control system of the present invention to convert the AC power supply into a DC power supply required for the normal operation of the industrial computer 41 with a touch screen and the control and signal unit 3. The circuit breaker 22 is divided into an AC circuit breaker and a DC electronic circuit breaker. The AC circuit breaker is used for overload and short circuit protection of the AC power supply on the AC power supply side; the DC electronic circuit breaker is used for DC power distribution and overload and short circuit protection on the DC power supply side.

[0042] The control and signal unit 3 includes a main controller 31, an input module 32, an output module 33, a communication module 34, and a relay 35. The main controller 31 is the core controller of the present invention. Generally, the main controller 31 is a central processing unit of a programmable logic controller, such as Figure 3As shown, the main controller 31 is connected to the input module 32, the output module 33 and the communication module 34 through the field bus or industrial Ethernet or the internal bus of the programmable logic controller. The main controller 31 also receives the control input of the industrial computer 41 with a touch screen and feeds back the required data. The algorithm operation processing of the signal simulation unit 6 also needs to be executed in the main controller 31. The input module 32 is specifically divided into a digital input module and an analog input module, wherein the digital input module is used to receive the digital signal output by the dynamic positioning control system 1, such as the thruster preparation completion signal; the analog input module is used to receive the analog signal output by the dynamic positioning control system 1, such as the analog signal with a signal type of 4-20mA, representing the speed command of the thruster. Similarly, the output module 33 is also divided into a digital output module and an analog output module. The digital output module is generally not directly connected to the dynamic positioning control system 1, but outputs to the coil of the relay 35, and is connected to the dynamic positioning control system 1 through the passive contacts of the relay 35, so that the interference between the two systems can be reduced. The contact signal output by the relay 35 is, for example, the dynamic positioning mode permission signal of the thruster. The analog output module is used to output analog signals to the dynamic positioning control system 1, for example, the analog signal of the signal type is 4-20mA, which represents the speed command to the thruster. The number, signal type, and signal meaning of the above input modules 32 and output modules 33 are set according to actual conditions. The communication module 34 is used to provide serial port or Ethernet signals to the dynamic positioning control system 1. Generally, the communication module 34 can provide the dynamic positioning control system 1 with the required wind sensor, attitude sensor, heading sensor, position sensor and other simulation signals through RS485, RS422 and other serial port loops.

[0043] The operation and display unit 4 includes an industrial computer 41 with a touch screen and a keyboard and mouse 42. Figure 3 As shown, the industrial computer 41 with a touch screen has a communication connection with the main controller 31, generally an Ethernet connection, using the OPC UA protocol or other communication protocols to exchange data. The industrial computer 41 with a touch screen is also equipped with a keyboard and mouse 42, so that it can be used more conveniently when complex data needs to be input. It is connected to the industrial computer 41 with a touch screen using a universal serial bus (USB). The main function of the industrial computer 41 with a touch screen is to serve as a human-machine interface, and the current information of the hardware-in-the-loop test and the setting parameters of the signal simulation unit 6 are displayed on the screen. Then the tester can operate through the touch screen and the keyboard and mouse 42. The current simulation signal output results are displayed in real time on the industrial computer 41, and the test results are analyzed, processed and saved.

[0044] The wiring unit 5 includes a wiring terminal 51, preferably a cable socket 52 and a plug 53 with a cable. The wiring terminal 51 is used to connect the internal wires of the hardware-in-the-loop test device with the external cables to the dynamic positioning control system 1, and is an electrical interface for connecting internal and external cables. In order to connect external cables more quickly and accurately, Figure 3 As shown, a cable socket 53 can be configured outside the control cabinet 7, which can directly connect the internal wires of the hardware-in-the-loop test device to the cable socket 52, and a plug 53 with a cable can be configured to directly connect the external cable of the dynamic positioning control system 1 to the plug 53. Through the quick plug-in connection of the cable socket 52 and the plug 53 with a cable, the cable connection between the hardware-in-the-loop test device and the dynamic positioning control system 1 can be completed, thereby improving the connection efficiency.

[0045] The signal simulation unit 6 includes a ship motion simulation program 61, a propeller simulation program 62, a power management system simulation program 63 and a fault mode simulation program 64, and the signal simulation unit 6 runs in the main controller 31. The ship motion simulation program 61 mainly provides the ship motion information required by the dynamic positioning control system 1, such as the ship's heading angle, position coordinates, motion attitude (such as roll and pitch angles) and wind speed and direction angles. The propeller simulation program 62 mainly receives the propeller speed and rudder angle commands of the dynamic positioning control system 1, and then feeds back the simulated speed and rudder angle to the dynamic positioning control system 1. The power management system simulation program 63 mainly provides signals of the ship power management system to the dynamic positioning control system 1, such as the available power of the current power grid, the connection status between each busbar, the operating status of the generator, the circuit breaker status of the propeller, etc. The fault mode simulation program 64 is mainly used to test the response of the dynamic positioning control system 1 under abnormal conditions. When the fault mode is used, the data and signals of the above three simulation programs can be adjusted to fault conditions, such as an increase in wind speed in the ship motion simulation program, a failure of a propeller in the propeller simulation program, a significant decrease in the available power of the power grid in the power management system simulation program, etc.

[0046] The electrical control system of the present invention is integrated and installed on the control cabinet 7. An industrial computer 41 with a touch screen is installed on the cabinet door of the control cabinet 7. There is a folded cover under the industrial computer 41, and a keyboard and mouse 42 can be placed on the cover. Several cable sockets 52 can be configured on the side of the control cabinet 7 to connect external plugs with cables 53. Inside the control cabinet 7, a switching power supply 21, a circuit breaker 22, a main controller 31, an input module 32, an output module 33, a communication module 34, a relay 35 and a terminal block 51 can be placed in sequence.

[0047] The bottom of the control cabinet 7 is provided with rubber wheels 71, so that the tester can easily move the control cabinet 7 to a suitable test site, and then use the connector cable to quickly connect it to the dynamic positioning control system 1, and then turn on the internal power of the control cabinet 7, use the keyboard and mouse 42 to operate the industrial computer 41 with a touch screen, and then start the hardware-in-the-loop test.

[0048] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An electrical control system for a hardware-in-the-loop test device for a dynamic positioning control system, characterized in that: include: The power supply and protection unit is used to provide the DC power required by the hardware-in-the-loop test device, and to distribute and protect the AC power supply and DC power supply respectively; The control and signal unit is used to realize the input and output of simulation signals and the processing of signal simulation algorithms, and is externally connected to the dynamic positioning control system; Operation and display unit, used to set test parameters and modes, and to display the current simulation signal output results in real time, and to analyze, process and save the test results; A wiring unit, used for electrically connecting to the dynamic positioning control system; The signal simulation unit is used to process and control the simulation signal of the hardware-in-the-loop test device and provide the simulation signal required for the test.

2. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 1, characterized in that: The power supply and protection unit comprises: A switching power supply, which converts AC power into DC power; Circuit breakers, including AC circuit breakers and DC electronic circuit breakers; The AC circuit breaker is used to protect the AC power supply from overload and short circuit; The DC electronic circuit breaker is used for DC power distribution and overload and short circuit protection of the DC power supply.

3. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 1, characterized in that: The control and signal unit includes a main controller, an input module, an output module, a communication module and a relay; The main controller is connected to the input module, the output module, and the communication module; The input module includes a digital quantity input module and an analog quantity input module, wherein the digital quantity input module is used to receive a digital quantity signal output by the dynamic positioning control system, and the analog quantity input module is used to receive an analog quantity signal output by the dynamic positioning control system; The output module includes a digital output module and an analog output module, the digital output module is connected to the coil of the relay, and is connected to the dynamic positioning control system through the passive contact point of the relay, and the analog output module is used to output analog signals to the dynamic positioning control system; The communication module is used to provide a serial port or Ethernet signal to the dynamic positioning control system.

4. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 3, characterized in that: The main controller is a central processing unit of a programmable logic controller; The main controller is connected to the input module, the output module and the communication module via a field bus or industrial Ethernet or an internal bus of a programmable logic controller.

5. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 3, characterized in that: The operation and display unit includes an industrial computer with a touch screen; The industrial computer establishes a communication connection with the main controller.

6. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 5, characterized in that: The industrial computer is also connected with a keyboard and a mouse.

7. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 3, characterized in that: The signal simulation unit includes a ship motion simulation program, a thruster simulation program, a power management system simulation program and a failure mode simulation program running in the main controller.

8. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 1, characterized in that: The electrical control system is integrated and installed on the control cabinet.

9. The electrical control system of the hardware-in-the-loop test device for a dynamic positioning control system according to claim 8, characterized in that: The bottom of the control cabinet is provided with rubber wheels.

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