Patent•
Hardware in-loop simulation system for controlling ship motion and working method thereof
26 May 2010-
TL;DR: In this paper, a hardware in-loop simulation system for controlling a ship motion and a working method thereof is described, where the system comprises a ship-motion controller, ship motion simulation system, and a remote control and monitoring system, wherein the interconnection of data between simulation system and ship motion controller is realized through a serial communication interface.
Abstract: 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
Citations
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13 Oct 2010
TL;DR: In this paper, a ship course intelligent coordination control method is proposed, which comprises the steps of: 1, setting an expected course angle; 2, calculating a deviation of a real course angle and the expected course angles; 3, obtaining a tilt control command signal; 4, calculating the 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.
Abstract: 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.
12 citations
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03 Dec 2014
10 citations
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14 Sep 2011
TL;DR: In this article, a ship course variable universe fuzzy and least square support vector machine compound control method is proposed to resolve a change rate of the course angle deviation by adjusting an input universe of the deviation and the deviation change rate.
Abstract: 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.
9 citations
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04 Jun 2015
TL;DR: In this paper, the authors present an automatic draft adjustment device for a model ship, which can enable quick and accurate setting of a draft condition of a ship by means of automated system without manually changing the position of a weight during a model test.
Abstract: The purpose of the present invention is to provide a device which can enable quick and accurate setting of a draft condition of a model ship by means of an automated system without manually changing the position of a weight during a model test. In order to attain the purpose, the present invention provides an automatic draft adjustment device for a model ship, the automatic draft adjustment device comprising: a draft measurement apparatus which is provided on a model ship, measures the draft of the model ship, and transmits a measured draft value to a wireless transmission and reception apparatus; the wireless transmission and reception apparatus which is provided on the model ship, communicates wirelessly with a wireless adjustment apparatus, transmits the measured draft value from the draft measurement apparatus to the wireless adjustment apparatus, receives a gravity center changing command from the wireless adjustment apparatus, and transmits same to a gravity center changing apparatus; the wireless adjustment apparatus which is provided on the outside of the model ship and, if the measured draft value from the draft measurement apparatus is different from a pre-calculated set draft value, generates a gravity center changing command; and the gravity center changing apparatus which is provided on the model ship and, if the wireless adjustment apparatus generates the gravity center changing command, automatically changes the position of the gravity center of the model ship by means of the linear reciprocating motion of a weight.
6 citations
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17 Apr 2013
TL;DR: In this article, a testing and simulating system for an automatic vessel rudder is presented, where a vessel model parameter setting system, a vessel movement mathematical model processing system and a comprehensive information displaying system are combined with a rudder angle feedback device driven by a stepping motor.
Abstract: The invention discloses a testing and simulating system for an automatic vessel rudder The testing and simulating system comprises a vessel model parameter setting system, a vessel movement mathematical model processing system, a comprehensive information displaying system, a vessel automatic rudder and a rudder angle generation and feedback device, wherein the vessel movement mathematical model processing system is respectively connected with the rudder angle generation and feedback device and the vessel automatic rudder in a port communication manner, and the rudder angle generation and feedback device and the vessel automatic rudder are connected in the port communication manner; and the communication between the vessel movement mathematical model processing system and the vessel model parameter setting system as well as between the vessel movement mathematical model processing system and the comprehensive information displaying system is completed by data transmission in a program According to the testing and simulating system, a rudder angle feedback amount is produced by a rudder angle feedback device driven by a stepping motor, thus the normal operation of the vessel automatic rudder on land can be realized, a working state of the vessel automatic rudder on an actual vessel is vividly simulated, expenses on labor and materials required in a great number of actual vessel tests are saved for a scientific unit engaged in relevant work of the vessel automatic rudder, and the working efficiency is improved
3 citations