Research And Develop Of Embedded Dynamic Positioning Manual Operator Controller

Ship dynamic positioning technology is an essential support system for ships that work in the ocean at the setting point for a long period. With the development of Embed technology,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.Thedynamic positioninghandheld box controller ,which is combined with embedded software and hardware technology and dynamic positioning technology.It is a auxiliary device of the computer control system, meanwhile supporting host system to steer the ship in different places.According to the dynamic positioning system needs,this design is based on the ARM under Linux's system,using Qt as the the develop tool to build a dynamichand held box controller, The main works are as follows:First of all, building the control system's hardware and software flat according to the actualdynamic positioning system requirements and the step of designing embed system.The hardware flat consist two parts:PC104 and message collecting circuit based on ATmega 128.They communicating with RS232.The software flat is a aim bord which include a Linux system with Qt library and build a same Linux operating system,a Qt tools and cross-compile environment on a computer.Next,Complete hand box of the LCD screen man-machine conversation design under Qt environment.Including shipping headset,steering force,trust force,rudder message and so on.The message must be real timely,correctly and friendly.It is the most time-consuming module as its complex content.Thirdly,in order to finish the hanle box function of dynamic positioning,we should buid the conversation between the box and shipping main control system.As the old controller's corresponding exist slowly and shortly problem. We choose Embbed Ethernet module mainly to realizes the LCD screen and other hand box control unit of the command and data communication.The screen will be able to get the data you need and are displayed after processing in an appropriate manner.Database module mainly achieve to storage the setting message and information from The Ethernet.Which can make the handle box on working accoding to the set of closed statue and show relative message when the user needed.Lastly,building a emluator to validate the performance of the handle box.Establish a three freestyle shipping model,chossing win,wave and stream as the disturb module and building correspongding mathematic model.Design a controller with combining humanintelligent PID controlmethod andarithmetic.Compeleting the validate of shipping head way control.