| The autopilot system is an indispensable and important equipment on ship. With the growing requirements of the navigational safety and operation, people's requirements of the autopilot are also increasing. Especially, with GPS and other advanced equipment are installed on the ship,people not only design the excat course control autopilot,but also begin to design the autopilot, which can control the route of the plan. There are many mature direction rudder and rudder track products in foreign market, However, most control methods are the relatively mature adaptive control methods. In recent years development of the intelligent control and other modern autopilot control which are in the application of the programme are in the feasibility study stage. The domestic research results are in a stage of simulation theory and lack of perfect autopilot products. Leading to the emergence of this phenomenon is due to ship in the harsh environments, the problems of track course autopilot reliability have not been solved.The issue is raised for solving the steering problems of the the navigational course and track. In order to improve the reliability of the system autopilot, this design used the three voting machine methods in hardware. Through hardware redundancy, make it solve the computer system reliable operation problem which is coursed by environment.This paper describes the hardware and driver of the autopilot system detailedly, include the main control template design and implementation, according to demand, using 89c51 control the system; Communication template design, implementate communications between the communication template and the main control panel and other navigational equipment (VDR, GPS, log device, meteorological instrument, the combination of navigation, electricity compass); Switch Input board design,complete receiving the external signal (alarm signal, navigation conditions and algorithm choiceselection); Switch output board design, The voting is realized through the steering control and alarm signal output; The design of the control board panel, complete the major human interface design, including navigational parameter, the equipment status display and navigation conditions and the choice of algorithm. A / D board design, realize the steering signal and magnetic compass signal reception.The following indicates the PCB design of various templates. including the general principles, the general steps and the notice. PCB design stressed the reliability of the hardware design.Finally, the paper introduce the test program as well as the driver program.The 3-D map and the effect of the test results are in the appendix to the final paper. |
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