Study Of The Hardware-in-loop Simulation System For Ship Motion Intelligent Control Based On DSP

In this thesis, hardware-in-loop simulation system for DSP-based intelligent control of ship motion is systemically studied.With the development of automatic control theories and technologies, more modern advanced control theories are applied to the ship motion control. However, there are kinds of inconveniences in verifying control theories on real ships. In the view of this contradiction, a hardware-in-loop simulation system is designed here, so that these advanced control theories can be verified on the system which can accelerate the application of theories in the field of ship motion control.In this thesis, Single simulation system and two-machine simulation system are designed for ship course control. All of the simulation calculations are achieved via computer. Software simulation of closed-loop control of ship motion is completed in single simulation system. And hardware-in-loop simulation with DSP as the hardware controller is included in two-machine simulation system, which is closer to the real ship control system than single simulation.DSP-based hardware-in-loop simulation system is divided into two parts, host computer and slave computer. The interface of simulation system is designed to show the monitoring curves about the ship track and course, which is realized in VC environment of host computer. The hardware part with intelligent control algorithm is built by DSP as ship motion controller in slave computer. The slave computer is to achieve hardware-in-loop simulation functions, using serial communication into a closed-loop with the host computer. Fuzzy-PID as the intelligent control algorithm is achieved by using look-up table method. Parameter control table as a header file for system calls is created by the MATLAB fuzzy toolbox and M files.The ship motion controller is composed of power circuit, clock and reset circuit, JTAG interface circuit and SCI serial communication circuit by a typical TMS320F2812 DSP system. Generally speaking, most of hardware structure of ship course controllers was designed using SCM in the past. DSP is employed as the ship motion controller in this thesis, expecting improve speed of the calculation and control precision. For the DSP as the controller has been applied to many industrial areas while applied to the ship course control is not a lot.Finally, the designed simulation system is tested and analyzed. According to condition monitoring curve of the ship motion track and course shown by the ship motion simulation system, the design goal of this system is gained. The proposed system can provide an effective experiment platform for the study of the ship motion control theories and the development of the ship motion controller in the laboratory environment.