The Embedded Controller Design And Realizationof Dynamic Positioning System Based On VxWorks OS

The Marine development launches inseparable from ships or offshore platform. As the key technology, the dynamic positioning technology is attracted more people's eyes.With the development, the demand of dynamic positioning controller is higher and higher Introducing superior performance, small volume, low power consumption controller has become one of the hottest topic nowadays. The previous dynamic positioning controller is used mostly industrial computer to realize, although its performance is better, it has problems, such as big volume, high power consumption. Thus, it can't satisfy with the needs of dynamic position. The dynamic positioning technology is relatively mature on abroad. Many companies and research institutions have developed powerful innovation in the dynamic positioning system. As the the important part of the DP. the dynamic positioning controller has appeared a lot of new features. KONGSBERG, which is a Norway company and pioneers to integration the embedded technology and dynamic positioning technology, has greatly improved the performance of the controller and sovle the industrial computer's problem. Drawing on foreign experience in the development of dynamic positioning, this design is based on the ARM embedded dynamic positioning controller, main work is as follows:First of all, according to the actual needs of dynamic positioning system, the hardware circuit is designed around with AT91RM9200 processor, including the circuit design of FLASH, SDRAM, DA and debug and so on, furthermore the hardware is debugged well. Besides, in order to guarantee the real-time of dynamic positioning system, VxWorks OS is chosen as the software platform.and is transplanted to the AT91RM9200 borad. The work of transplantation completes kernel initialization and clock, interruption. I/O and DA driver development.Besides, the surface ship three degrees of freedom model is established, joined with the wind, wave and current, in order to verify the design of embedded controller. What's more, the neural network PID algorithm is studied. The PID parameter is adjusted dynamically by the neural network. So the ship control is realized. Finally, through the PC and the ARM, the semi-physical simulation platform is built. The surface ship three degrees of freedom model is running on the PC, while the neural network PID algorithm, which is adopted to complete the heading control of the ship, is running on the AT91RM9200 board.And the control tasks is completed well.The capability of the embedded dynamic positioning controller is verified with the disturbance of the environment or without it.The results show that:by the use of neural network PID algorithm.the embedded dynamic positioning controller designed in this paper, not only has advantages of high performance and low power consumption, but also has benefits of fast response, small overshoot and good stability, in allusion to the heading control of the ship. Therefor, the embedded dynamic positioning controller can meet the needs of dynamic positioning system...