A semi-physical test device for a ship power positioning system controller

Abstract

The utility model provides a kind of for ship power positioning system controller's semi-physical testing device, comprising: host computer module, ethernet switch, real-time simulation module, power module, communication module, I / O module and analog load cabinet.Host computer module is used for test management, working condition configuration and data monitoring;Real-time simulation module is responsible for running ship movement and ocean environment model, communication module, I / O module are used for the generation and acquisition of multiple physical signals;Power module provides stable power supply with timing controllable;Analog load cabinet is used to simulate the load characteristics of actuator such as propeller.Each module is interconnected through standard interface, constitutes closed-loop test system, can simulate the ship movement and sensor signal under complex sea conditions, supports hardware-level fault injection, realizes the comprehensive verification of power positioning controller function, performance and reliability, with high simulation reality, comprehensive test coverage, good safety, strong scalability and other advantages.

Description

Technical Field

[0001] This utility model belongs to the field of marine power control system testing technology, and more specifically, relates to a semi-physical testing device for a marine dynamic positioning system controller. Background Technology

[0002] Dynamic positioning (DP) systems are crucial control systems for modern ships to maintain a predetermined position and course in complex marine environments. Their performance directly impacts the safety, economy, and reliability of ship operations. With the increasing development of global marine resources into deep and ultra-deep waters, and the rapid advancement of intelligent ships and unmanned technologies, higher demands are placed on the control accuracy, response speed, and fault tolerance of DP systems. Against this backdrop, comprehensive, reliable, and realistic testing and verification of DP systems has become essential to ensuring their stable operation under actual conditions.

[0003] Currently, the industry commonly uses hardware-in-the-loop (HiL) test platforms to verify DP systems. These platforms embed the actual controller hardware into a closed-loop simulation test environment, enabling testing of system functionality, control logic, and some fault responses. Many existing devices already support Failure Mode and Effects Analysis (FMEA)-based verification methods, simulating typical faults such as sensor anomalies and actuator failures at the software level, providing some support for early-stage functional verification and reliability assessment. However, existing DP system HiL test platforms still have several significant limitations, making it difficult to meet increasingly demanding testing requirements, especially in high-safety vessels and special operational scenarios.

[0004] Existing test platforms generally have fixed signal interface designs, resulting in poor physical channel scalability and compatibility. In practical applications, DP systems need to connect to various types of sensors and actuators, with signal types covering different protocols and electrical standards such as analog, digital, PWM, CAN, and Ethernet. Currently, most test platform interface boards have fixed configurations, lacking flexible signal type reconfiguration and electrical isolation capabilities. This makes it difficult to quickly adapt to controllers and sensor components from different manufacturers and models, significantly reducing the versatility and reusability of the test platform.

[0005] In the simulation of marine environmental disturbances, existing systems still rely excessively on idealized numerical models, lacking realistic physical excitations. In actual sea conditions, the coupling effects of wind, waves, and currents are significant, accompanied by strong uncertainties and disturbances. Current platforms mostly use pure software to simulate these environmental factors, lacking the ability to output high-fidelity, real-time multi-channel physical signals. Therefore, the environmental load signals input to the controller in tests differ significantly from the actual complex marine environment, causing the controller's dynamic response test results to fail to accurately reflect its control performance and stability under extreme conditions, severely impacting the reliability of the test results.

[0006] In terms of fault injection and diagnosis capabilities, existing platforms remain relatively limited. While some advanced platforms support simulating logical faults such as communication timeouts and data jumps at the software level, they lack the ability to finely simulate and inject hardware-level faults such as sensor signal links and actuator drive interfaces. For example, it is difficult to simulate common hardware faults such as signal line short circuits, open circuits, impedance anomalies, and power supply voltage fluctuations. Furthermore, there is a lack of means to monitor and record the system's hardware response characteristics in real time after a fault occurs. This makes it difficult for existing testing methods to comprehensively evaluate the fault tolerance performance and safety handling mechanisms of the DP controller under hardware fault conditions.

[0007] Some testing platforms prioritize comprehensive test coverage while neglecting critical performance indicators such as system real-time performance and signal synchronization accuracy. DP systems are extremely sensitive to control cycles and signal response delays, especially in multi-degree-of-freedom dynamic positioning control. Any signal asynchrony or delay can lead to decreased control performance or even system instability. Furthermore, some existing platforms, due to hardware architecture or scheduling strategy limitations, struggle to guarantee high-precision timing and multi-channel data synchronization, making it impossible to accurately verify the controller's real-time response capabilities in high-speed, dynamically changing environments. Utility Model Content

[0008] The purpose of this invention is to provide a semi-physical test device for a ship dynamic positioning system controller, overcoming the limitations of existing test devices in terms of signal interface flexibility, environmental simulation realism, hardware fault injection capability, and system real-time performance.

[0009] To achieve the above objectives, this utility model provides a semi-physical testing device for a ship dynamic positioning system controller, comprising:

[0010] The host computer module is used for test scenario configuration, parameter setting, process control, and data recording and analysis.

[0011] An Ethernet switch, connected to the host computer module, is used to transmit commands from the host computer module and to feed back test process data to the host computer module.

[0012] The real-time simulation module is connected to the Ethernet switch and is used to run ship motion models and marine environment models, generate simulation data, and send test process data to the Ethernet switch.

[0013] A power supply module, connected to the real-time simulation module, is used to provide an adjustable voltage to dynamically simulate the electrical response of the ship's actuators;

[0014] The communication module is connected to the real-time simulation module and is used to convert simulation data into physical signals. It is also used to connect to the DP controller under test and send physical signals to the DP controller under test.

[0015] The I / O module is connected to the real-time simulation module and is used to generate analog sensor signals and switch signals. It is also used to connect to the DP controller under test, send analog sensor signals and switch signals to the DP controller under test, and collect control commands and status signals returned by the DP controller under test.

[0016] The simulated load cabinet is used to connect to the DP controller under test, programmably simulate the electrical characteristics and dynamic load behavior of the ship's actuators and receive instructions from the DP controller under test. It is also connected to the communication module and feeds back the controller instructions and execution status of the DP controller under test to the real-time simulation module.

[0017] Optionally, the Ethernet switch is connected to the host computer module, the real-time simulation module is connected to the Ethernet switch, the power supply module is connected to the real-time simulation module, the communication module is connected to the real-time simulation module, the I / O module is connected to the real-time simulation module, the I / O module is connected to the DP controller under test, the simulated load cabinet is connected to the DP under test, and the simulated load cabinet is connected to the communication module through standardized electrical and communication interfaces.

[0018] Optionally, the I / O module includes a digital input / output unit and an analog input / output unit, wherein the digital input / output unit is used to generate and acquire digital signals, and the analog input / output unit is used to generate and acquire analog signals.

[0019] Optionally, the I / O module includes multiple I / O channels, and the multiple I / O channels are optically isolated and magnetically isolated from each other.

[0020] Optionally, the communication module includes a CAN communication unit and a serial communication unit.

[0021] Optionally, the power module is also connected to and supplies power to the host computer module, the Ethernet switch, the real-time simulation module, the communication module, the I / O module, and the simulated load cabinet.

[0022] Optionally, the power module includes:

[0023] Programmable power supply, used to provide adjustable voltage;

[0024] A power sequencer is used to control the power-on / power-off sequence of each module.

[0025] Optionally, the host computer module includes:

[0026] The industrial computer host is equipped with test management software for test scenario configuration, parameter setting, process control, and data recording and analysis.

[0027] Multiple monitors are used to provide a visual human-computer interaction interface.

[0028] Optionally, the testing apparatus further includes:

[0029] The simulation cabinet houses the Ethernet switch, the real-time simulation module, the power supply module, the communication module, and the I / O module.

[0030] Optionally, the analog load cabinet includes a programmable power load circuit.

[0031] The beneficial effects of this utility model are as follows: It provides a semi-physical testing device for a ship dynamic positioning system controller, comprising: a host computer module, an Ethernet switch, a real-time simulation module, a power supply module, a communication module, an I / O module, and a simulated load cabinet. The host computer module is used for test management, operating condition configuration, and data monitoring; the real-time simulation module is responsible for running ship motion and marine environment models; the communication module and I / O module are used for the generation and acquisition of various physical signals; the power supply module provides a stable power supply with controllable timing; and the simulated load cabinet is used to simulate the load characteristics of actuators such as thrusters. The modules are interconnected through standard interfaces to form a closed-loop testing system, capable of simulating ship motion and sensor signals under complex sea conditions, supporting hardware-level fault injection, and achieving comprehensive verification of the dynamic positioning controller's functions, performance, and reliability. It has advantages such as high simulation realism, comprehensive test coverage, good security, and strong scalability.

[0032] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0033] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0034] Figure 1A schematic structural diagram of a hardware-in-the-loop test apparatus for a ship dynamic positioning system controller according to an embodiment of the present invention is shown.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Host computer module; 11. Industrial computer host; 12. Monitor;

[0037] 2. Ethernet switch;

[0038] 3. Real-time simulation module;

[0039] 4. Power supply module; 41. Programmable power supply; 42. Power sequencer;

[0040] 5. Communication module; 51. CAN communication unit; 52. Serial communication unit;

[0041] 6. I / O modules; 61. Digital input / output units; 62. Analog input / output units;

[0042] 7. Simulate load cell;

[0043] 8. The DP controller under test;

[0044] 9. Simulation cabinet. Detailed Implementation

[0045] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0046] Example

[0047] like Figure 1 As shown, this embodiment provides a semi-physical test device for a ship dynamic positioning system controller, including: a host computer module 1, an Ethernet switch 2, a real-time simulation module 3, a power supply module 4, a communication module 5, an I / O module 6, and a simulated load cabinet 7.

[0048] The host computer module 1 is used for test scenario configuration, parameter setting, process control, and data recording and analysis. In this embodiment, the host computer module 1 includes an industrial computer host 11 and one or more monitors 12. The industrial computer host 11 is equipped with test management software, which is used to configure test scenarios, set environmental parameters, manage test processes, display data in real time, and record and store all test process data. The monitors 12 provide a visual human-machine interface. The host computer module 1 is connected to an Ethernet-like switch 2 via a gigabit Ethernet cable to enable command issuance and data monitoring.

[0049] Ethernet switch 2 is connected to host computer module 1 and is used to transmit instructions from host computer module 1 and to feed back test process data to host computer module 1. In this embodiment, Ethernet switch 2 is an industrial-grade managed switch and is responsible for data exchange and instruction transmission between various functional modules within the system.

[0050] The real-time simulation module 3, connected to the Ethernet switch 2, is used to run the ship motion model and the marine environment model, generate simulation data, and send test process data to the Ethernet switch 2. In this embodiment, the real-time simulation module 3 is built on a high-performance multi-core processor and runs on a real-time operating system. It is equipped with a high-precision six-degree-of-freedom ship motion dynamics model, a wind, wave, and current marine environment model, and various virtual sensor models. This allows for real-time simulation of ship dynamics in complex marine environments and the generation of corresponding sensor data. Through a high-resolution input / output module, it generates multi-channel, high-real-time physical signals, accurately simulating the motion response of real ships in complex sea conditions and various sensor signals. Compared to existing technologies that rely heavily on pure mathematical simulation or have insufficient signal simulation fidelity, this invention provides the dynamic positioning controller with input excitations that more closely approximate the characteristics of actual sensors, greatly reducing the gap between simulation testing and actual sea conditions, and significantly improving the realism and engineering confidence of the test results. The real-time simulation module 3 is interconnected with the communication module 5 and the I / O module 6 via a PCI Express high-speed bus, ensuring the real-time performance and high bandwidth of the transmission between simulation data and physical signals.

[0051] Power module 4, connected to real-time simulation module 3, provides adjustable voltage to dynamically simulate the electrical response of ship actuators. In this embodiment, power module 4 consists of a power sequencer 42 and one or more programmable power supplies 41. The power sequencer 42 can automatically control the power-on and power-off sequence of the entire test system and each submodule according to a preset timing sequence, preventing surge current impact and improving system reliability. The programmable power supplies 41 can provide stable and adjustable DC power output, simulating the power supply status of the ship's electrical grid and powering each module of the system. Power module 4 is connected to simulation cabinet 9 via RS-232 serial port, receiving control commands and reporting status information.

[0052] The communication module 5 is connected to the real-time simulation module 3 and is used to convert simulation data into physical signals. It is also used to connect to the DP controller under test 8 and send physical signals to the DP controller under test 8. The communication module 5 provides a variety of standard industrial communication interfaces, including a serial communication module 5 with RS-232 / RS-422 / RS-485 protocol and a CAN communication module 5 with CAN 2.0A / B protocol, which are used to realize bidirectional data communication with different models of dynamic positioning controllers.

[0053] I / O module 6 is connected to real-time simulation module 3 and is used to generate analog sensor signals and switch signals. It is also used to connect to the DP controller under test 8, send analog sensor signals and switch signals to the DP controller under test 8, and collect control commands and status signals returned by the DP controller under test 8. In this embodiment, I / O module 6 includes digital input / output unit 61 and analog input / output unit 62, which are responsible for generating and collecting analog signals and digital signals. All I / O channels adopt opto-isolation or magnetic isolation technology to ensure signal accuracy and system safety.

[0054] The simulated load cabinet 7 is connected to the DP controller under test 8, programmably simulating the electrical characteristics and dynamic load behavior of the ship's actuators and receiving commands from the DP controller 8. It is also connected to the communication module 5 and feeds back the controller commands and execution status of the DP controller under test to the real-time simulation module 3. In this embodiment, the simulated load cabinet 7 contains a programmable power load circuit to simulate the electrical characteristics and dynamic load behavior of ship actuators, such as azimuth thrusters, side thrusters, and steering gears. This module can reproduce the complex operating conditions faced by the ship during navigation, positioning, and emergency operations, such as sudden load changes, long-term high-power operation, and multi-thruster coordination. This allows for comprehensive verification of the dynamic positioning controller's control strategy, power distribution logic, and dynamic response performance, overcoming the shortcomings of existing test devices, such as a single load simulation method and insufficient dynamic performance. This module receives control signals from the DP controller 8 and feeds back the simulated actuator status signals to the I / O module 6 in real time, thus forming a complete hardware-in-the-loop test closed loop.

[0055] In this embodiment, the DP controller under test 8 is located in the dynamic positioning control cabinet. The dynamic positioning control cabinet is connected to the I / O module 6, the communication module 5 and the power module 4 through a dedicated integrated wiring harness. It receives analog sensor signals, environmental data and power supply from the simulation system, and outputs the control commands generated by its calculations to the analog load cabinet 7.

[0056] Specifically, this testing device integrates comprehensive hardware fault injection capabilities from the signal layer, communication layer, execution layer, and power layer. It can accurately simulate various hardware-level faults, such as abnormal sensor signals, communication interruptions and errors, actuator jamming or failure, and mains voltage drops or interruptions. This function enables users to safely, controllably, and repeatedly evaluate the fault detection, isolation, and system reconfiguration capabilities of dynamic positioning controllers under various extreme fault conditions in the laboratory, greatly enhancing the depth of verification of system functional safety and compensating for the shortcomings of existing platforms in terms of limited fault simulation methods and narrow coverage.

[0057] This testing device, based on a high-performance real-time simulator and high-precision synchronous timing technology, ensures a high degree of time determinism and inter-channel synchronization throughout the entire process, from environmental simulation calculation and signal generation and acquisition to data communication. This microsecond-level response capability and nanosecond-level synchronization accuracy meet the stringent real-time requirements of high-speed control loops in dynamic positioning systems, accurately capturing the controller's rapid response characteristics under dynamic disturbances. It effectively avoids test errors caused by system delays or signal asynchrony, thus solving the bottleneck problem of real-time performance in general-purpose testing equipment.

[0058] This testing device fully considers the safety of high-voltage, high-current testing environments, employing comprehensive electrical isolation, overcurrent, overvoltage, and short-circuit protection, as well as power sequence management, effectively ensuring the safety of the device under test and the testing system itself. Simultaneously, all test procedures, operating condition settings, and fault injections can be precisely controlled and automated through host computer software, ensuring the standardization of the testing process and the repeatability of the test results. This device significantly reduces the cost and risk of real-ship testing, shortens the R&D cycle, and provides an efficient, reliable, and complete solution for the laboratory verification of dynamic positioning controllers, possessing extremely high engineering practicality and industry promotion value.

[0059] Optionally, the Ethernet switch 2 is connected to the host computer module 1, the real-time simulation module 3 is connected to the Ethernet switch 2, the power supply module 4 is connected to the real-time simulation module 3, the communication module 5 is connected to the real-time simulation module 3, the I / O module 6 is connected to the real-time simulation module 3, the I / O module 6 is connected to the DP controller under test 8, the analog load cabinet 7 is connected to the DP under test, and the analog load cabinet 7 is connected to the communication module 5 through standardized electrical and communication interfaces.

[0060] Specifically, this testing device adopts a modular architecture, with each module interconnected through standardized electrical interfaces and communication protocols. This design makes the entire testing device highly flexible in hardware configuration, allowing for rapid adaptation and expansion based on the specific interface types and signal scales of different dynamic positioning controller models. Simultaneously, the modular structure greatly facilitates subsequent maintenance, upgrades, and troubleshooting, effectively solving the problems of narrow compatibility and difficult upgrades caused by the rigid structure and single interface of existing testing platforms. This better meets the diverse and customized testing needs of the marine industry for dynamic positioning systems.

[0061] Optionally, the I / O module 6 includes a digital input / output unit 61 and an analog input / output unit 62. The digital input / output unit 61 is used to generate and acquire digital signals, and the analog input / output unit 62 is used to generate and acquire analog signals.

[0062] Optionally, the I / O module 6 includes multiple I / O channels, all of which are opto-isolated and magnetically isolated from each other.

[0063] Specifically, I / O module 6 adopts an electrical isolation design to ensure safe isolation between high-voltage, high-current signals and low-voltage control circuits.

[0064] Optionally, the communication module 5 includes a CAN communication unit 51 and a serial communication unit 52. In this embodiment, the CAN communication unit 51 and the serial communication unit 52 are connected to the DP controller under test 8 through a standard interface, supporting multiple communication protocols to realize the interaction of instructions and status data between the test system and the controller.

[0065] Optionally, the power supply module 4 is also connected to the host computer module 1, the Ethernet switch 2, the real-time simulation module 3, the communication module 5, the I / O module 6, and the analog load cabinet 7 for power supply.

[0066] In this embodiment, the power module 4 includes:

[0067] Programmable power supply 41 is used to provide adjustable voltage;

[0068] Power sequencer 42 is used to control the power-on / power-off sequence of each module.

[0069] Specifically, the programmable power supply 41 can output the common voltage / current range of the ship's power grid, simulate power grid fluctuations or anomalies, and be used to test the adaptability of the DP controller under non-ideal power supply conditions; the power sequencer 42 can realize the power-on / power-off sequence control of each module of the system, avoid inrush current impact, and improve the operational safety of the system.

[0070] Optionally, the host computer module 1 includes:

[0071] The industrial computer host 11 is equipped with test management software for test scenario configuration, parameter setting, process control, and data recording and analysis.

[0072] Multiple monitors 12 are used to provide a visual human-computer interaction interface.

[0073] Optionally, the testing apparatus further includes:

[0074] The simulation cabinet 9 houses the Ethernet switch 2, real-time simulation module 3, power supply module 4, communication module 5, and I / O module 6. In this embodiment, the simulation cabinet 9 adopts a standard 20-inch cabinet structure.

[0075] Optionally, the simulated load cabinet 7 includes a programmable power load circuit. The load circuit is used to simulate the electrical characteristics and dynamic load behavior of ship actuators, such as azimuth thrusters, side thrusters, steering gear, etc.

[0076] The testing method based on the above-mentioned testing device in this embodiment is as follows:

[0077] At the start of the test, the operator sets the marine environmental conditions, ship parameters, and test procedures through the test management software in the host computer module 1, and then initiates the test. The real-time simulation module 3 starts running the ship and environmental model, and sends the generated virtual sensor signals and bus data to the dynamic positioning controller via the I / O module 6 and communication module 5. The controller performs control calculations based on the received signals and outputs the resulting actuator control commands to the simulated load cabinet 7. The simulated load cabinet 7 simulates the response of the real load according to the commands and feeds back the response signals to the simulation cabinet 9. The model in the simulation cabinet 9 calculates the new state of the ship based on the feedback signals, thus initiating a new round of closed-loop control. This cycle repeats, achieving comprehensive and high real-time performance testing of the dynamic positioning controller.

[0078] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A semi-physical testing device for a ship dynamic positioning system controller, characterized in that, include: The host computer module (1) is used for test scenario configuration, parameter setting, process control and data recording and analysis; Ethernet switch (2) is connected to the host computer module (1) and is used to transmit the instructions of the host computer module (1) and to feed back test process data to the host computer module (1); The real-time simulation module (3) is connected to the Ethernet switch (2) and is used to run the ship motion model and the marine environment model, generate simulation data and send test process data to the Ethernet switch (2); The power supply module (4), connected to the real-time simulation module (3), is used to provide an adjustable voltage to dynamically simulate the electrical response of the ship's actuators; The communication module (5) is connected to the real-time simulation module (3) and is used to convert simulation data into physical signals. It is also used to connect to the DP controller under test (8) and send physical signals to the DP controller under test (8). The I / O module (6) is connected to the real-time simulation module (3) and is used to generate analog sensor signals and switch signals. It is also used to connect to the DP controller under test (8), send analog sensor signals and switch signals to the DP controller under test (8), and collect control commands and status signals returned by the DP controller under test (8). The simulated load cabinet (7) is used to connect to the DP controller under test (8), programmably simulate the electrical characteristics and dynamic load behavior of the ship's actuators and receive instructions from the DP controller under test (8), and is also connected to the communication module (5) to feed back the controller instructions and execution status of the DP controller under test (8) to the real-time simulation module (3).

2. The hardware-in-the-loop testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The Ethernet switch (2) is connected to the host computer module (1), the real-time simulation module (3) is connected to the Ethernet switch (2), the power supply module (4) is connected to the real-time simulation module (3), the communication module (5) is connected to the real-time simulation module (3), the I / O module (6) is connected to the real-time simulation module (3), the I / O module (6) is connected to the DP controller under test (8), the simulated load cabinet (7) is connected to the DP under test, and the simulated load cabinet (7) is connected to the communication module (5) through standardized electrical and communication interfaces.

3. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The I / O module (6) includes a digital input / output unit (61) and an analog input / output unit (62). The digital input / output unit (61) is used to generate and acquire digital signals, and the analog input / output unit (62) is used to generate and acquire analog signals.

4. A semi-physical testing device for a ship dynamic positioning system controller according to claim 3, characterized in that, The I / O module (6) includes multiple I / O channels, and the multiple I / O channels are photoelectrically isolated and magnetically isolated from each other.

5. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The communication module (5) includes a CAN communication unit (51) and a serial communication unit (52).

6. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The power module (4) is also connected to the host computer module (1), the Ethernet switch (2), the real-time simulation module (3), the communication module (5), the I / O module (6), and the simulated load cabinet (7) for power supply.

7. A semi-physical testing device for a ship dynamic positioning system controller according to claim 6, characterized in that, The power module (4) includes: A programmable power supply (41) is used to provide an adjustable voltage; A power sequencer (42) is used to control the power-on / power-off sequence of each module.

8. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The host computer module (1) includes: An industrial computer host (11) is equipped with test management software for test scenario configuration, parameter setting, process control and data recording and analysis; Multiple displays (12) are used to provide a visual human-computer interaction interface.

9. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, Also includes: The simulation cabinet (9) houses the Ethernet switch (2), the real-time simulation module (3), the power supply module (4), the communication module (5), and the I / O module (6).

10. A semi-physical testing device for a ship dynamic positioning system controller according to claim 1, characterized in that, The analog load cabinet (7) includes a programmable power load circuit.

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