Research On Ship Dynamic Positioning System Based On Linux Platform

Dynamic positioning technology is a new means of ocean exploration and development,which originated in the exploitation and utilization of the vast ocean of human as well as its seabed mineral,oil and gas and other resources.With the exploitation of land resources depleted and significant pressure on energy demand,the rapid rise of the technology.Dynamic positioning technology is a propulsion device mounted by ship or oil and gas platforms,generates a compensation outside wind,current,waves and other environmental forces of the force or torque,so that the whole platform can be positioned in accordance with the set position or achieve site operations and other functions.Dynamic positioning technology from generation to now,although a variety of technology updates constantly,but its composition is still unabated,power system provides power for working with modified thrust system focused on the distribution of thrust.Control system serves as the core of the whole system position.Measurement system is the source of a variety of signal input control systems,but according to the study of environmental factors on the traditional measurement methods,we know that there is not enough for these disturbances accurate mathematical model to describe,which makes the whole system can not effectively achieve accurate positioning.It is back to this background,this article will focus on the study of the design of the control system and.measurement system.In this paper,we choose the ship as the research object,in the study of dynamic positioning control system,We conduct in-depth research from computer systems,display systems,control algorithms and other aspects,and design a DP operation panel which is based on the Linux operating system platform,we design a model-based predictive dynamic positioning control system(Model Predictive Control,MPC).In the measurement system,in order to measure the force to the external environment,a new measurement device has been proposed.The research works are as follows:(1)The principles of open source Linux operating system has been studied,and the embedded platform has been built,we complete the compile of uboot and the kernel of the operating system,and then we produced a root file system.(2)The hardware platform of Tiny6410(Samsung S3C6410)which is the series of ARM11 has been studied,as well as the programming models and methods.(3)Through the use of programming language C ++,Qt graphics technology,we design a ship dynamic positioning interface which can meet the requirements of design in the Linux platform,and then we transplant it to the ARM platform.(4)We design a new measurement device to measure the external environment by combining the principles of DP system.(5)Through the analysis of the principle of the measuring device,the low-frequency ship motion model has been improved.(6)Through the use of MPC algorithm,combined with the improved low-frequency ship motion model,the simulation experiments verified the feasibility and effectiveness of the measurement device.In this paper,through the use of embedded Linux operating system on ARM platform for DP system control interface design,and by making the operating system open source,we increase the security of the system;by using ARM platform to make the control device more compact;by using Qt graphics technology to design a user-friendly interface,we improve the quality of the display system.In the measurement system,we design a new measurement device to measure the external environment,improved the traditional measure methods,the measurement principle and thrust distribution plan have been proposed.Simulation results show that the design of measurement device to the external environment is feasible and effective.