Research On Control System Of The Self-propulsion Ship Model

The self-propulsion test of ship model is a significant means which analyzes and makes researches on various composition of the screw propeller's propulsion efficiency. Along with the development of power electronic technology and control technology, it has become possible that regulating the speed of ship model motor to make the ship model in the stable self-propelled status in the finite ship pool. Thus ship model can carry out Mainland Method sailing, which guarantees accordingly precision of experiment data and simplifies experiment process. Therefore it has important realistic meanings to reforming ship pool technology and improving experiment data precision, then forecasting ship performance and raising product quality that researching on control system of the self-propulsion ship model.According to controlling ship model in the self-propulsion test of ship model, the slave-computer which takes ATmega128 and CPLD (Complex Programmable Logic Device) as the hardcore is designed. And the master-computer based on PC is also designed in this paper. In addition, the slave-computer and the master-computer realize serial communication with the Digital Signal Wireless Transmission Module. Thus servo control of the ship model motor is realized, and experiment data are collected.Based on analyzing the whole mechanism of ship model self-propulsion test, the whole control scheme is confirmed. Taking ATmega128 and CPLD as the hardcore, the hardware circuits are designed, which include communication circuit, motor drive circuit applied with IGBT and H-bridge, orthogonal encoder interface circuit applied with CPLD, data acquisition circuit etc. The embedded controller software used with the C language and the PC controller interface used with Delphi are also designed. The PC controller realizes the administration and the interaction between the user and the slave-computer system in real-time. At last, using the Digital Signal Wireless Transmission Module, the system fulfills serial transmission between ATmega128 and PC. It effectively enhances the control system's real-time and reliability.The software and hardware of the control system are debugged by experiment. Based on dSPACE Hardware-in-the-Loop simulation platform, the experimental research on the ship model motor's control system is completed. Also, experimental researches on data acquisition and communication between ATmega128 and PC are accomplished. The results of experiment show that the control system of the self-propulsion ship model meets the design requirements. So servo control of the ship model motor is realized, and experiment data are collected.