The invention provides a ship course intelligent coordination control method which comprises the steps of: 1, setting an expected course angle; 2, calculating a deviation of a real course angle and the expected course angle; 3, obtaining a tilt control command signal; 4, calculating a course angle really output by a ship; 5, identifying a ship motion inverse system model, regulating parameters of a least square support vector machine; and 6, repeating the calculation of the step 2. By adopting a ship course compounding control measure combining inverse control with fuzzy control, the invention effectively overcomes the defect of inverse control caused by inaccurate identification of the inverse model based on input and output data, establishes a ship control inverse system model by adopting the least square support vector machine, has the advantages of simple structure design and high steady state accuracy, and can realize accurate control of course holding by combining with the advantages of rapid response, strong anti-interference capability and good robustness of the fuzzy control.

Ship course intelligent coordination control method

Dynamic positioning simulation test platform and position control method

The invention discloses an in-loop simulation system of the double-diesel engine propulsion control hardware of a ship, and the system comprises a diesel engine simulation test bench, a diesel engine monitoring and alarm system, a right diesel engine control console, a diesel engine rotating speed comprehensive control system and a left diesel engine simulation control system; the diesel engine simulation test bench and the diesel engine monitoring and alarm system respectively communicate with the right diesel engine control console through a point to point interface (PPI) protocol; the diesel engine rotating speed comprehensive control system comprises an electronic speed governor and Siemens S7-1200 PLC, and the S7-1200 PLC communicates with the right diesel engine control console through a Modbus protocol; and the left diesel engine simulation control system mutually exchanges data with the S7-1200 PLC of the diesel engine rotating speed comprehensive control system through an OLE for process control (OPC) protocol. According to the in-loop simulation system of the double-diesel engine propulsion control hardware of the ship, a user can set different ship diesel engine parameters in the diesel engines, a gearbox signal simulation box and a touch screen as needed, and thus can simulate the operation of the diesel engines under different working conditions.

In-loop simulation system of double-diesel engine propulsion control hardware of ship

The invention provides a ship course variable universe fuzzy and least square support vector machine compound control method, which comprises the following steps of: setting an expected course angle, forming course angle deviation between a feedback value of an actual course angle and the set expected course angle, and resolving a change rate of the course angle deviation; adjusting an input universe of the course angle deviation and the deviation change rate, generating a new course angle deviation and a new course angle deviation change rate, transmitting the new course angle deviation and the new course angle deviation change rate serving as two input variables to variable universe fuzzy control, obtaining a control rule required by course control according to a fuzzy rule, outputting a rudder angle command signal, and transmitting the rudder angle command signal to steering engine servo for steering; obtaining a course angle, rudder angle, course changing angle rate time sequence through intermediate storage according to actual system output, using the time sequence as an input vector to train a network structure of a least square support vector machine, dynamically identifying a ship course motion inverse model and generating a feedforward compensation control signal; and tracking the given expected course according to command course accuracy due to ship course variable universe fuzzy and least square support vector machine compound control.

Ship course variable universe fuzzy and least square support vector machine compound control method

The invention discloses a ship driving simulation system based on the data distribution service and belongs to the field of computer simulation. The system is characterized in that hardware output data adopts serial servers to integrate hardware, and the data acquisition and processing are completed through an API provided by the serial servers; software units integrate software through the interfaces provided by the technology of data distribution service, and the mutual real-time data interaction is implemented. The system has the advantages that the instantaneity of the ship driving simulation system can be improved, network resource occupation is reduced, and a solving scheme is provided for semi-physical simulation system construction.

Ship driving simulation system based on data distribution service

The invention discloses a hardware in-loop simulation system for comprehensive optimization control of main power and manipulation of a ship. The system comprises a virtual ship motion simulation system, a ship main power and manipulation comprehensive optimization controller, a ship steering and main engine console, a ship monitoring simulation system, a system scheduling server and an Ethernet, wherein the virtual ship motion simulation system, the ship main power and manipulation comprehensive optimization controller, the ship monitoring simulation system and the system scheduling server exchange data with each other through the Ethernet respectively; and the ship main power and manipulation comprehensive optimization controller is directly connected with the ship steering and main engine console through analogue level. Because a user of the invention can set different ship parameters such as length of the ship, draft and block coefficient and sea condition parameters such as wind wave strength, direction and the like on a user interface provided in the ship monitoring simulation system as required, the control simulation effects of various types of ships under various sea conditions can be simulated.

Hardware in-loop simulation system for comprehensive optimization control of main power and manipulation of ship

The invention discloses a hardware in-loop simulation system for controlling a ship motion and a working method thereof The system comprises a ship motion controller, a ship motion simulation system, and a remote control and monitoring system, wherein the interconnection of data between the ship motion simulation system and the ship motion controller is realized through a serial communication interface; and the interconnection of the data between the ship motion controller and the remote control and monitoring system is realized through an Ethernet communication interface The method comprises the following steps: inputting ship form selection, real ship parameters and sea state parameters through the ship motion simulation system; transmitting a helm angle parameter through the remote control and monitoring system; calculating a course by using the ship motion controller; forming closed-loop control and the like between the ship motion simulation system and the ship motion controller By utilizing the system and the method, a user can select ship form and set the real ship parameters randomly, and can select any algoritic module for a simulation experiment on the ship motion control so as to fulfill the aim of monitoring a ship state real time

Hardware in-loop simulation system for controlling ship motion and working method thereof

The utility model discloses a hardware-in-the-loop simulation system for ship main engine and steering comprehensive optimized control, which comprises a virtual ship movement simulation system, a ship active force and operation comprehensive optimized controller, a ship steering and main engine console, a ship monitoring simulation system, a system dispatch server and an Ethernet. The virtual ship movement simulation system, the ship active force and steering comprehensive optimized controller, the ship monitoring simulation system and the system dispatch server realize mutual data exchange respectively, and the ship active force and operation comprehensive optimized controller is directly connected with the ship steering and main engine console through simulation level. Different ship parameters such as ship length, draft, block coefficient and sea state parameters such as storm strength, direction and the like can be set on a user interface in the ship monitoring simulation system, and accordingly the hardwire-in-the-loop simulation system can simulate control simulation effects of different types of ships under various sea states.

Hardware-in-the-loop simulation system for ship main engine and steering comprehensive optimized control

The utility model discloses a ship motion control hardware-in-loop simulation system which comprises a ship motion controller, a ship motion simulation system and a remote controlling and monitoring system. The mutual data connection between the ship motion simulation system and the ship motion controller is realized through a serial communication interface, and the mutual data connection between the ship motion controller and the remote controlling and monitoring system is realized through an Ethernet communication interface. The working method of the utility model comprises the following steps of: inputting ship form selection, practical ship parameters and sea condition parameters through the ship motion simulation system; sending rudder angle parameters through the remote controlling and monitoring system; and calculating a course by the ship motion controller; and forming closed-loop control by the ship motion simulation system and the ship motion controller, and the like. By utilizing the utility model, a user can randomly select ship forms and set practical ship parameters, select any algorithm module for ship motion control simulation tests and realize the aim of monitoring the ship state in real time.

Yang Yang

Papers

Hardware in-loop simulation system for comprehensive optimization control of main power and manipulation of ship

Hardware in-loop simulation system for controlling ship motion and working method thereof

Hardware-in-the-loop simulation system for ship main engine and steering comprehensive optimized control

Ship motion control hardware-in-loop simulation system