Design And Implementation Of The Hardware-in-loop Simulation System For Ship Motion Control Based On TCP/IP

In this dissertation, the design and implementation of the hardware-in-loop simulation system for ship motion control based on TCP/IP protocol is systemically studied.Ship motion control is a complex issue of control, with the development of automatic control theory and technology, many scholars devote to applying current advanced control theories to the ship motion control. However, there are many difficulties in verifying the performance of the control theories. In the view of this contradiction, the paper designs a hardware-in-loop simulation system for ship motion control based on TCP/IP protocol, so that we can verify these advanced control theories and accelerate the application of advanced control theories in the field of ship motion control.In this dissertation, the design of the simulation system is divided into three parts: ship motion controller, ship motion simulation system, remote control and monitoring system. This paper carried out a detailed study and discussion about the design of the ship motion controller hardware and software, the software design of remote control and monitoring system and ship motion simulation system, and the protocol of system communication. Ship motion simulation system provides ship motion model for object simulation. Remote control and monitoring system based on Ethernet communication can set the control parameters and monitor the ship motion state. SST company's eight bit microprocessor SST89E516RD is the core of the ship motion controller. The controller use MAXIM company's MAX232 chip to design the serial communication interface to exchange data with the ship motion simulation system, then achieves the closed-loop control of ship motion. At the same time, the controller uses the Taiwan Realtek company's 10 Mb/s Ethernet controller RTL8019AS to design the Ethernet interface to exchange data with the remote control and monitoring system.Finally, the designed system is tested. According to the ship motion track shown by the ship motion simulation system and the monitoring results of the remote control and monitoring system, the simulation system performance is satisfactory. The proposed system can provide a effective test platform for the study of the ship motion control theories and the development of the ship motion controller in the laboratory environment.