航迹航向自动操舵仪的软件分析与设计
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摘要
本课题的提出是为了解决船舶航行过程中航迹航向自动操舵的问题,目的是控制船舶自动地按照计划航向和设定航线航行。为了提高系统的可靠性,本系统采用了三机表决方案。针对本系统方案,本文对航迹航向自动操舵仪的软件部分进行了分析和设计,共分成三个主要软件模块:
一是主控模块,主要任务对舵机反馈信息、航行状态信息、开关量信息、用户设定的参数信息等进行综合、协调处理以进行实时的舵机控制。软件设计的难点是三机通讯的实现及总线控制权的协调问题。
二是人机交互模块,实现航行中信息显示和设置。显示信息包括对经纬度、纵横摇、航向、舵角、报警信息、操作模式、通信信息、主机状态、偏航等。信息设置的功能方便驾驶员修改各种航行命令和设置参数等。
三是信息采集模块,接收存储来自GPS、VDR、气象仪、电罗经、计程仪、组合导航系统的数据信息,为主控模块提供相关的参数,供主控模块分析处理。
本文对三个主控模块的软件流程进行了详细设计,设计难点是三机之间的通信及合理占用总线的问题。较为详细地阐述了其中的关键技术——令牌的使用。三个主控模块之间通过令牌方式获取总线控制权,并实时监督拥有令牌的主控模块。所提出的方法也适用于其它多机系统的场合,具有一定的参考价值和实用意义。主控模块的部分代码已经编写完成,并调试通过。本文详细设计了信息采集模块及人机交互模块,这两部分程序经测试运行稳定,很好地完成了设计的功能。
此外,本文对总线传输的数据格式和数据类型进行了详细的定义,并对软件可靠性也进行了深入了的研究,确保系统运行的稳定性。
本项目研究是受某集团的委托,从2007年3月开始至今。主要包括三个研究阶段:用户需求研究阶段;硬件的设计、制板和软件流程设计阶段;软件的编写及调试阶段。
This issue is raised in order to resolve the steering problem of the shipping-course and shipping-track in navigation, the purpose is to control the ship navigation in accordance with the plan of shipping-track and the set of the shipping-course. In order to improve the reliability of the system, the system uses a three-voting machine technology. The paper analysises and designs the software of the shipping-course and the shipping-track, which is divided into three main modules:
First, it is the main control module. The main task of the module is to deal with steering feedback information, navigation status informaition, on-off information, user set parameter information comprehensivly and coordinatingly, which can control the rudder in real time. The difficulty of the software design is the realization of three machines communication and the problems of bus control and coordination.
Second, it is human and machine interactive module. This module is to display and set the navigation information. Display information includes the latitude and longitude vertical and horizontal drift, shipping-track, steering angle, alarm information, mode of operation, communication information, host state, yaw and other information. Information setting facilitates the pilot to modify various navigation commands and parameters setting.
Third, it is the information acquisition module. This module receives and stores the data information, which comes from GPS, the meteorological instrument, the electric compass, log device and the integrated navigation system. The module provides the relevant parameters for the main control module.
The article designs the software of the three main control module in detail, the difficulty is the communication between the three machines and the reasonable distribution of bus occupancy. It also descripes the key technology - the use of token. The three main control modules acquire bus occupancy through the token and supervise the main control module that has got the token. This proposed method also applies to the other multi-machine system and has the reference value and practical significance. The main control module has been completed partly. The function of the information acquisition module and human and machine interactive module carried out. Throughtesting, the software works stablility, and completes the function as scheduled.
In addition, the paper defines the data format and data type of the bus in detail, the software reliability has also been researched, which ensures the stability of system operation.
This project is commissioned by a company from March 2007 to now. The project has three major research stages:user needs study stage, hardware design, system board and software flow design stage, software development and testing stage.
一是主控模块,主要任务对舵机反馈信息、航行状态信息、开关量信息、用户设定的参数信息等进行综合、协调处理以进行实时的舵机控制。软件设计的难点是三机通讯的实现及总线控制权的协调问题。
二是人机交互模块,实现航行中信息显示和设置。显示信息包括对经纬度、纵横摇、航向、舵角、报警信息、操作模式、通信信息、主机状态、偏航等。信息设置的功能方便驾驶员修改各种航行命令和设置参数等。
三是信息采集模块,接收存储来自GPS、VDR、气象仪、电罗经、计程仪、组合导航系统的数据信息,为主控模块提供相关的参数,供主控模块分析处理。
本文对三个主控模块的软件流程进行了详细设计,设计难点是三机之间的通信及合理占用总线的问题。较为详细地阐述了其中的关键技术——令牌的使用。三个主控模块之间通过令牌方式获取总线控制权,并实时监督拥有令牌的主控模块。所提出的方法也适用于其它多机系统的场合,具有一定的参考价值和实用意义。主控模块的部分代码已经编写完成,并调试通过。本文详细设计了信息采集模块及人机交互模块,这两部分程序经测试运行稳定,很好地完成了设计的功能。
此外,本文对总线传输的数据格式和数据类型进行了详细的定义,并对软件可靠性也进行了深入了的研究,确保系统运行的稳定性。
本项目研究是受某集团的委托,从2007年3月开始至今。主要包括三个研究阶段:用户需求研究阶段;硬件的设计、制板和软件流程设计阶段;软件的编写及调试阶段。
This issue is raised in order to resolve the steering problem of the shipping-course and shipping-track in navigation, the purpose is to control the ship navigation in accordance with the plan of shipping-track and the set of the shipping-course. In order to improve the reliability of the system, the system uses a three-voting machine technology. The paper analysises and designs the software of the shipping-course and the shipping-track, which is divided into three main modules:
First, it is the main control module. The main task of the module is to deal with steering feedback information, navigation status informaition, on-off information, user set parameter information comprehensivly and coordinatingly, which can control the rudder in real time. The difficulty of the software design is the realization of three machines communication and the problems of bus control and coordination.
Second, it is human and machine interactive module. This module is to display and set the navigation information. Display information includes the latitude and longitude vertical and horizontal drift, shipping-track, steering angle, alarm information, mode of operation, communication information, host state, yaw and other information. Information setting facilitates the pilot to modify various navigation commands and parameters setting.
Third, it is the information acquisition module. This module receives and stores the data information, which comes from GPS, the meteorological instrument, the electric compass, log device and the integrated navigation system. The module provides the relevant parameters for the main control module.
The article designs the software of the three main control module in detail, the difficulty is the communication between the three machines and the reasonable distribution of bus occupancy. It also descripes the key technology - the use of token. The three main control modules acquire bus occupancy through the token and supervise the main control module that has got the token. This proposed method also applies to the other multi-machine system and has the reference value and practical significance. The main control module has been completed partly. The function of the information acquisition module and human and machine interactive module carried out. Throughtesting, the software works stablility, and completes the function as scheduled.
In addition, the paper defines the data format and data type of the bus in detail, the software reliability has also been researched, which ensures the stability of system operation.
This project is commissioned by a company from March 2007 to now. The project has three major research stages:user needs study stage, hardware design, system board and software flow design stage, software development and testing stage.
引文
[1]Amerongen J V.Adaptive steering of ships:a model reference approach to improved maneuvering and economical course--keeping.Ph.D thesis.Delft University of Technology,1982.
[2]贾欣乐,蒋丹东,张显库.船舶转向控制器研究.大连海事大学学报,1998.
[3]黄国栋,罗万钟.航迹自动控制模式的比较与探讨.中国造船工程学会和中国仪器仪表学会船舶仪器仪表学术会议,九江,1990.
[4]张显库,蒋丹东,贾欣乐等.基于PC/104的航迹舵系统设计.电子技术应用,1998.
[5]张庆河,李炎保等.考虑外环境影响的船舶操纵模拟自动舵系统.中国造船,2001.
[6]朱利民,贾欣乐.智能式航迹自动舵的硬件系统设计.微计算机信息,1998.
[7]蒋丹东,朱利民,贾欣乐.智能式航迹自动舵的海上试验研究.中国造船,1998.
[8]马俊.单片机机之间的通信与实现.商丘师范学院学报,2003.
[9]马芮.STD,CAMAC,VXI总线技术比较.飞航导弹,2000.
[10]魏庆福.STD总线工业控制机的设计与应用.北京:科学出版社,1991.
[11]姜惠欣.嵌入式船载导航雷达系统的DSP软件设计:(硕士学位论文).杭州:浙江大学,2004.
[12]http://www.nmea.org
[13]徐爱钧,彭秀华.单片机高级语言C51Windows环境编程与应用.北京:电子工业出版社,2001.
[14]Hotora S.On the automatic steering and yawing of ships in rough seas.Journal Society of Naval Architects(Japan),1953,12(2):94-113.
[15]Messer A C.Introduction to robust ship track - keeping control design.Trans lnst MC,1993,15(3):104-110.
[16]郑灵翔.嵌入式系统设计与应用开发.北京:北京航空航天大学出版社,2006.
[17]洪滨,周莉,陆宏东.单片机嵌入式系统软件容错设计.工矿自动化,2002.
[18]王幸之,翟成,王闪.单片机应用系统抗干扰技术.北京:北京航空航天大学出版社,2000.
[19]张怀莲.MS-DOS3.30 STD系统BIOS分析应用与虚盘管理.北京:电子工业出版社,1991.
[20]孙献璞,张艳玲.一种新的令牌传递算法.西安邮电学院学报,2005,10(2),122-125.
[21]罗忠,冉全.串行EEPROM 24XX在单片机系统中的应用技术.湖北教育学院学报,1999.
[22]何立民.单片机应用系统设计.北京:北京航空航天大学出版社,1990.
[23]肖培林.用C语言开发51系列单片机高效代码.电子技术应用,1996.
[24]周德兴,孟晓风.实时系统软件设计方法.计算机自动测量与控制.2000,8(4).
[25]Y.M.Enab.Intelligent controller design for the ship steering problem.IEEProc -Control Theory Application.1996,143(1):17-25.
[2]贾欣乐,蒋丹东,张显库.船舶转向控制器研究.大连海事大学学报,1998.
[3]黄国栋,罗万钟.航迹自动控制模式的比较与探讨.中国造船工程学会和中国仪器仪表学会船舶仪器仪表学术会议,九江,1990.
[4]张显库,蒋丹东,贾欣乐等.基于PC/104的航迹舵系统设计.电子技术应用,1998.
[5]张庆河,李炎保等.考虑外环境影响的船舶操纵模拟自动舵系统.中国造船,2001.
[6]朱利民,贾欣乐.智能式航迹自动舵的硬件系统设计.微计算机信息,1998.
[7]蒋丹东,朱利民,贾欣乐.智能式航迹自动舵的海上试验研究.中国造船,1998.
[8]马俊.单片机机之间的通信与实现.商丘师范学院学报,2003.
[9]马芮.STD,CAMAC,VXI总线技术比较.飞航导弹,2000.
[10]魏庆福.STD总线工业控制机的设计与应用.北京:科学出版社,1991.
[11]姜惠欣.嵌入式船载导航雷达系统的DSP软件设计:(硕士学位论文).杭州:浙江大学,2004.
[12]http://www.nmea.org
[13]徐爱钧,彭秀华.单片机高级语言C51Windows环境编程与应用.北京:电子工业出版社,2001.
[14]Hotora S.On the automatic steering and yawing of ships in rough seas.Journal Society of Naval Architects(Japan),1953,12(2):94-113.
[15]Messer A C.Introduction to robust ship track - keeping control design.Trans lnst MC,1993,15(3):104-110.
[16]郑灵翔.嵌入式系统设计与应用开发.北京:北京航空航天大学出版社,2006.
[17]洪滨,周莉,陆宏东.单片机嵌入式系统软件容错设计.工矿自动化,2002.
[18]王幸之,翟成,王闪.单片机应用系统抗干扰技术.北京:北京航空航天大学出版社,2000.
[19]张怀莲.MS-DOS3.30 STD系统BIOS分析应用与虚盘管理.北京:电子工业出版社,1991.
[20]孙献璞,张艳玲.一种新的令牌传递算法.西安邮电学院学报,2005,10(2),122-125.
[21]罗忠,冉全.串行EEPROM 24XX在单片机系统中的应用技术.湖北教育学院学报,1999.
[22]何立民.单片机应用系统设计.北京:北京航空航天大学出版社,1990.
[23]肖培林.用C语言开发51系列单片机高效代码.电子技术应用,1996.
[24]周德兴,孟晓风.实时系统软件设计方法.计算机自动测量与控制.2000,8(4).
[25]Y.M.Enab.Intelligent controller design for the ship steering problem.IEEProc -Control Theory Application.1996,143(1):17-25.