Dynamic Positioning Independent Joystick Terminal Function The-loop Simulation

Independent handheld rod system (handheld box) in the dynamic positioning systemoccupies a very important position, It is a auxiliary device of the computer control system，meanwhile supporting host system to steer the ship in different places.Handheld box becausesmaller, easy to move, simple manipulation and other reasons, Chiang Kai-shek in the shipcontrol system gradually be taken seriously.In this paper, according to the handheld box system performance needs, design manualoperator control unit’s circuit box, and drive the hardware and software interfaces.In Matlabplatform, the establishment of ship-based three degrees of freedom model for the simulationexperiment to test hand operating box performance. Main tasks are as follows:First, the AVR microcontroller as the central，to design of the handheld box informationsampling circuit, CAN bus network circuit, system communication circuit, key scan controlcircuits round of information collection circuit heading, voyage information and navigationalinformation display circuit memory expansion circuit, in based on this, the correspondingcomplete system programming interface, and finally hand operation for more than one boxand the host to establish a network, completion of each hand holds the transmission ofinformation between the box.Second, build a simulation environment, in order to verify the design of the handheldbox system performance, the establishment of the ship’s three degrees of freedom simulationmodel, in the external environment, the choice of wind, waves and currents as the interferencemodel, and a corresponding mathematical model.Again, the study of fuzzy PID algorithm to develop rules for the controller, and handlethe output of the system in accordance with operating box fuzzy rules, fuzzy inference, andthe output of the fuzzy inference processing through the anti-fuzzy and PID controller basedon the principle, set fuzzy controller.Finally, complete box manual operator-loop system simulation platform. By PC andhandheld box kind, on a PC running three degrees of freedom mathematical model, operatinghandle box system simulation model output as input, the output of the simulation platformand compare handheld input box, and then the PID parameters adjustments to arrive the bestPID parameters.Simulation results show that this design of the hand control box operating systemperformance and stability is necessary, there is no overshoot and fast system response time,meets the system requirements.