Design And Realization Of Embedded-dynamic Positioning Controller

ARM-based embedded dynamic positioning controller integrates ARM hardware technology, dynamic positioning technology and embedded operating system technology together. It is a design proposal to solve the problem such as big-bulk, high power consumption, when the computer, industrial computer as controllers. The paper mainly design an embedded dynamic positioning controller for a dynamic positioning system of the lab's project.This design is based on the ARM9 processor and embedded Linux operating system, use fuzzy control algorithm, and makes simulate experiments for the ship's horizontal movement within three degrees of freedom. Main tasks are as follows:First of all,according to the actual system requirements,carried out design and debug the embedded dynamic positioning controller's hardware board and its related software system. For the hardware section, mainly researched on the design and debugging of processor SDRAM, Nor Flash and other hardware equipment; For the software section, mainly focuse on the research and development of tthe establishment of cross-compiling environment, embedded dynamic positioning controller's bootloader transplantation, embedded core's cutting, compile and configure, the root file system's creation, some device's drivers and so on.Second, establish a ship model for the embedded dynamic positioning control system. Research mainly focuses on the ship's horizontal movement within three degrees of freedom, considering the effect of wind, waves and currents and so on.Finally, research an application for embedded dynamic positioning controller. Through the designed fuzzy control algorithm, make semi-physical simulation tests under different environmental conditions for the embedded dynamic positioning control system. The results showed that: through used fuzzy control algorithm , the embedded dynamic positioning controller designed in this paper, not only has advantages such as small size, low power consumption, high performance and so on, but also point to control the surface three degrees motion of ship, has benefits such as fast response, small overshoot , good stability and so on.The embedded dynamic positioning controller is able to meet the requirements of dynamic positioning system to the controller, has a certain practical value.