Research On Design Of Hardware-in-the-loop Simulator For Dynamic Positioning Control System

With the offshore operations such as the marine resource exploration and exploitation,etc.expanding to the deep and distant ocean,the traditional Anchor positioning system has been unable to meet the positioning requirements because of the limitation of the ocean depth,more and more dynamic positioning(DP)systems are installed on ships.In recent years,with the development of the DP technology,systematic testing of DP controller functionality,performance,and failure handling using hardware-in-the-loop(HIL)technology is increasingly important as the software and hardware complexity of DP system grows.The HIL simulator is an indispensable part of HIL testing,therefore,the research on design of HIL simulator has important practical significance for HIL testing of DP control system.The HIL simulator is developed for DP control system and the ship DP controller is designed in this thesis.First,the mathematical model of surface three-degree-of-freedom of ship motion is built and the characteristics of wind,waves and currents are analyzed so that the ocean disturbances acting on ships are computed.The ship motion module and the sea environment module are built using MATLAB/Simulink which lay a foundation for the HIL simulator design and the DP controller simulation.Second,the"Host-Target" HIL simulator is built with a personal computer as "Host" and an industrial personal computer as "Target" communicating through ethemet.A brief and user-friendly interface is created using Microsoft Visual Studio to facilitate the use of HIL simulator.Third,considering the time-variant unknown disturbances,the measurable ship position and heading and the unmeasurable velocities:(1)The ship motion state observer based on Kalman filter is designed for the position and heading filtering and velocity estimation;(2)The disturbance observer is designed to estimate the ocean disturbances on ships based on ship velocity estimates;(3)The ship DP model predictive controller is designed to maintain the actual position and heading of the ship at the desired values.Finally,simulation studies are carried out on the scale model ship CyberShip ?under different ocean environment,and the simulation results illustrate the effectiveness of the ship motion state observer,the disturbance observe and the ship DP controller.The real-time simulation of the HIL simulator are carried out and the simulation results prove that the HIL simulator can verify the ship DP controller.