The Design And Research Of Track Keeping Autopilot Based On Network

Intelligent driving technology is the current hot topic.Communication technology and integrated bridge system are the keys to intelligent ship driving.The network of integrated bridge system can be divided into wireless networks,switching ethernet and fieldbus network,and the track keeping autopilot’s control network belongs to fieldbus network.Therefore building a highly efficient and reliable control network is the prerequisite for the further development of ship intelligent control.In order to meet the demand of intelligent ship for control network,track keeping autopilot based on network is studied and designed in view of the development of the network of track keeping autopilot.The research and design of the control network,and the achievement of the software system of the track keeping autopilot are mainly solved.Firstly,several common network topologies and fieldbus networks are researched and analyzed,and then CAN bus is used as the fieldbus of the track control network.The network interface circuit and message transmission format of the track keeping autopilot are studied and designed.The control network’s communication function is achieved and the requirements for the communication of the track keeping autopilot’s networked control are satisfied.Secondly,the rudder software system is programmed by Visual C ++ in the Windows environment.The functions of track keeping autopilot system in communication,integrated display,user operation,data storage and so on are studied and analyzed.The system is divided into five functional modules:communication module,display module,operation module,storage module and control module,and each function module is designed and implemented.The track controller is designed by using the indirect track control scheme.The PI controller is used in the track keeping control and the single neuron PID controller is used in the course control.Finally,the networked track keeping autopilot is tested by the semi-physical simulation experiment.All parts of the system operate normally.The heading control and track control of the ship model are achieved through the control network,the desired function of the track keeping autopilot is achieved.The track keeping autopilot based on network makes it more convenient to integrate the track keeping autopilot into the integrated bridge system,and makes ship control develop in the direction of networking and intelligence.