Design And Implementation Of The Control System Of Chart Course Plotter

Chart course plot,which is an very important part of modern ship navigation system,plays an important role in maritime jobs. In recent years, marine environment becomes increasingly complex,which requires chart course plot to extend its function and to improve its performance. The development of technology provide a solid foundation and diverse possibilities.First of all, combining with the current marine environment, the new performance index and the improved proposals of chart course plot are presented. According to the improved proposals,the computer system of chart course plot is redesigned, and S3C6410 is choosed to be the processor, and the embedded linux system is choosed to be the operating system, and the stepper motor, which has some flaws, is replaced by the AC servo motor, which can improves the plotting efficiency and reduce system noise.Secondly, to improve the plotting accuracy of chart course plot, the correspond controller is designed. Considering the time degeneration and nonlinear of the servo system which is caused by load variation, a fuzzy neural network controller is designed. The comparison between the fuzzy neural network controller and the PID controller shows that, the fuzzy neural network controller can effectively deal with the problem of parameter variation and load variation of servo system.Thirdly, to improve the plotting efficiency, the path planning method is designed ,which is based on the artificial bee colony algorithm. The results of the simulation shows that this algorithm can calculate the optimal path efficiently, which highly improve the plotting efficiency. According to the comparison between the genetic algorithm and the artificial bee colony algorithm,the artificial bee colony algorithm shows a higher performance both in the result and in the calculating time.Finally, the software and hardware which is related to chart course plot is designed and realized. Due to the fact that the software and hard run in ARM-Linux, the designing method of device drivers is presented. In the module of AC servo system, the peripheral circuits of AC servo dirver ,the method of generating plus using the PWM timer of S3C6410 ,and the PWM timer driver are designed. In the module of CAN bus, the circuits of this module and the CAN driver are designed. In the module of network, the related program which run in linux system is designed. To test the AC servo driving module and the communication module,a testing system is built,and the testing system shows that this two modules can run well and can meet the system requirements.