Hardware-in-the-loop Simulation Of Marine Hydraulic Rudder System

To test the control function of a new type steering device,the conventional way is making the steering device and the physical hydraulic steering rudder form the closed loop.This method requires building hydraulic steering system in the laboratory which consumes a great amount of budget and time.Through HIL(Hardware-in-the-loop)simulation,building marine hydraulic steering rudder model based on transfer function,receiving the control signals from the steering device and outputting feedback signals to form closed loop control.In contrast with the conventional way,HIL method meets the need of testing the function of the new type steering device,economize funding and increase the experimental efficiency.The main contents of this thesis are summarized as follows:In chapter 1,the related theory background and domestic and overseas research status of marine hydraulic rudder system are introduced,the objective of hardware-in-the-loop simulation of marine hydraulic rudder system are reviewed.The research significance and content are brought forward.In chapter 2,the object of study,valve-controlled and pump-controlled marine hydraulic rudder system are analyzed,the differential equations and transfer functions of the system are built.In chapter 3,the overall framework design,hardware design and software design of hardware-in-the-loop simulation of marine hydraulic rudder system are completed according to the steering device interface requirements and the closed-loop rudder angle experimental requirements.In chapter 4,the key links of hardware-in-the-loop simulation of valve-controlled and pump-controlled marine hydraulic rudder system are studied,including the collection of input control singles of valve-controlled and pump-controlled marine hydraulic rudder system and the simulation of feedback sensors of pump-controlled marine hydraulic rudder system.In chapter 5,based on the research of the key links of hardware-in-the-loop simulation,the steering device is tested,with the assistance of hardware-in-the-loop simulation of marine hydraulic rudder system.The results show the method is able to replace the real hydraulic rudder system to some extent.In chapter 7,the main study objective and achievements of the study are concluded,and the improvement space and direction of future research are put forward.