CN113189964A - Model test platform for fault mode response test of dynamic positioning system - Google Patents
Model test platform for fault mode response test of dynamic positioning system Download PDFInfo
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Abstract
The invention relates to a model test platform for a fault mode response test of a dynamic positioning system, which refers to the requirements of an IMO MSC.1Circe0DP system and has the function of realizing dynamic positioning under certain stormy wave environmental conditions, and is characterized by comprising a test ship model, a power module, a propulsion module, a DP control module and a remote operation terminal, wherein the power module, the propulsion module, the DP control module and the remote operation terminal are configured on the basis of the test ship model, and the model test platform comprises: and the DP control module is configured with a fault injection software module, and the fault injection software module is utilized to apply test excitation aiming at the fault mode of the DP system, so that the reliability of each function of the DP control module is tested on line. The invention tests the response and processing process of the DP control system and the software function algorithm to the interference factors such as equipment failure, signal characteristic change, model parameter adjustment and the like by injecting the failure, and carries out online test on the functions of DP control system signal processing, state monitoring, failure diagnosis and the like.
Description
Technical Field
The invention relates to a model test platform for Dynamic Positioning (DP) system fault mode response test, and belongs to the technical field of automatic control of ships and ocean engineering.
Background
With the increasing demand of human beings on marine resource development from offshore to offshore and on marine engineering on operation safety and marine structure position maintaining accuracy, a DP control system becomes a necessary configuration system of large marine engineering equipment, such as a deep sea drilling platform, a pipe laying ship for performing submarine pipeline laying and the like, and a dynamic positioning control system is adopted to enable an operation platform or a ship to realize accurate positioning and directional control targets. At present, domestic research on dynamic positioning systems mainly focuses on simulation test research on control strategies and system functions, and experimental test research on the reliability and robustness of the DP control system functions is lacked. The test platform provided by the invention can apply interference factors to perform online test on the function of the DP control system by simulating the fault of equipment and the characteristic change of signals, adjusting model parameters and the like, and is an important technical platform for researching the functional integrity, stability, robustness and instantaneity of the DP control system.
The dynamic positioning system of the ship is generally composed of a power system, a propulsion system, a control system and the like. The power system supplies energy for the whole ship equipment, and relates to the safety integrity of the whole ship, the DP control system must perform the control function of the power system based on the available power supplied by the power system, and the power overload or the failure of the power system cannot be caused by the function of the DP system. The DP control system coordinates and controls all available thrusters through logic judgment and thrust distribution algorithm, monitors the running state of the thrusters in real time, and responds and processes faults of the thrusters in time. The DP control system is a core function module for realizing the positioning and orientation functions of the ship and comprises a process control unit, a man-machine interaction unit, a communication network, a position reference system and a sensor system. The process control unit receives input information of the man-machine interaction unit, the position reference system, the sensor, the power system and the propulsion system in real time, and establishes a closed-loop control loop of position deviation based on a ship dynamics model to realize a positioning and orienting function. The process control unit carries out processing such as comparison, filtering, interpolation, prediction and the like on the input signals and carries out real-time response on equipment faults and signal characteristic changes so as to reduce the influence of signal interference on the DP control system and ensure the stable and reliable performance of the system function.
Through patent retrieval, Chinese patent CN1544285A (application No. 200310108552.6) discloses a dynamic positioning model test system, which mainly focuses on testing and verifying the adaptability of a DP control system to external environment (simulated sea conditions) conditions so as to be used for a marine engineering model test and forecast the motion condition of a marine engineering structure in a marine environment. The invention relates to a test platform for verifying a core control strategy of an overwater platform dynamic positioning system, which is invented by Chinese patent CN110308714A (application number 201910552415.2), and model test research of a dynamic positioning control strategy is developed in a wireless remote control mode. The test system or platform in the above patent focuses on the test verification of the dynamic positioning control strategy, and does not consider the processing function and test verification of the DP control system on the interference factors such as equipment failure, measurement signal characteristics, model parameter variation, and the like. Chinese patent CN 104267606B (application No. 201410581902.9) invented "a dynamic positioning control system hardware-in-loop test simulator and its working method", which set up a hardware-in-loop simulation test system, and perform simulation test on the DP control unit function by simulating various fault modes on a simulation test platform. Because the simulation model ignores various nonlinear factors in the actual storm environment, the DP ship and the DP control system, the performance and the functional stability of the DP control system cannot be truly reflected.
Disclosure of Invention
The invention aims to provide a test platform which can apply test excitation to realize a DP fault mode in a positioning state, test the response performance of a DP control system on line and obtain real data information.
In order to achieve the above object, the technical solution of the present invention is to provide a model test platform for a fault mode response test of a dynamic positioning system, the model test platform refers to the requirements of an IMO msc.1circ1580DP system, and has a function of implementing dynamic positioning under certain storm environmental conditions, and is characterized by comprising a test ship model, and a power module, a propulsion module, a DP control module and a remote operation terminal configured based on the test ship model, wherein:
the test ship model has perfect quality characteristic parameters and hydrodynamic characteristic parameters;
the power module continuously supplies power to the model test platform;
the propulsion module comprises a propulsion control unit and a propeller arranged on the test ship model, and the propeller is controlled by the propulsion control unit;
the DP control module is configured with a fault injection software module, and the fault injection software module is utilized to apply test excitation aiming at a DP system fault mode, so that the reliability of each function of the DP control module is tested on line;
and the remote terminal is used for realizing shore-based remote control and monitoring of the model test platform.
Preferably, the test stimulus triggering the DP system failure mode comprises model parameters, power limits, propeller faults, position reference unit faults, sensor faults, signal noise, virtual sensors.
Preferably, the test stimulus is applied in a manner including parameter adjustment, forced variables, superimposed noise, virtual devices.
Preferably, the DP control module includes a process control unit, a human-computer interaction unit, a position reference unit, a measurement sensor, and a network communication device, and the process control unit is configured with the fault injection software module.
Preferably, the network communication device adopts a three-layer network architecture to realize data interaction, the three-layer network architecture comprises a bottom layer communication network constructed based on a serial server, an intermediate layer network based on an Ethernet switch and an upper layer network based on a wireless router, a serial communication protocol and an Ethernet protocol are converted through the serial server, the wireless router is connected with the Ethernet switch to provide a wireless access interface of intermediate layer Ethernet equipment, and the remote operation terminal is accessed into the wireless access interface to realize remote access of the remote operation terminal to the intermediate layer network equipment.
Preferably, in the bottom layer communication network, the serial server is connected to the measurement sensor, the position reference unit and the propulsion control unit in the propulsion module through a configurable serial port, so as to realize protocol conversion between serial communication and ethernet communication of the DP control module bottom layer device, and a communication protocol of the DP control module bottom layer device conforms to NMEA 0183; the serial server converts signals from the propulsion control unit, the measuring sensor and the position reference unit into an Ethernet communication protocol, and data interaction is realized through an Ethernet switch and the process control unit of the DP control module.
Preferably, the ethernet switch is star-connected to the process control unit, the human-computer interaction unit, the serial server and the wireless router, so as to realize high-speed transmission of related data; the propulsion control unit, the measuring sensor, the position reference unit and the serial port server are connected with the human-computer interaction unit through the Ethernet switch, so that the propulsion control unit, the measuring sensor, the position reference unit and the serial port server are communicated with the human-computer interaction unit through the Ethernet switch, process control feedback and state information are output, and a human-computer interaction control instruction is received.
Preferably, the human-computer interaction unit provides an operation interface of the DP control module, and the human-computer interaction unit can record the device running state and the process control information of the DP control module in real time
Preferably, after the remote operation terminal is accessed to the wireless access interface, the remote operation terminal is accessed to a local area network formed by the ethernet switch, and the model test platform is remotely controlled by remotely sharing the display interface of the man-machine switching unit.
Preferably, the process processing unit is remotely logged in by using the remote operation terminal, the fault injection software module is remotely activated in the model test platform positioning state, a targeted test stimulus is applied, and a fault processing mechanism and the anti-interference capability of the DP control system are tested on line.
The test platform provided by the invention can control the test ship model to be in a dynamic positioning working state in a certain wind and wave environment, test the response and processing process of the DP control system and a software function algorithm to interference factors such as equipment faults, signal characteristic change, model parameter adjustment and the like in a fault injection mode, and perform online test on the functions of signal processing, state monitoring, fault diagnosis and the like of the DP control system. The model test platform provided by the invention is based on a three-layer network architecture, adopts a standard hardware interface form and a software modularization design principle, reserves interfaces so as to add position reference units, measurement sensors, redundant process control units and the like with different function principles on the basis of the existing function configuration, and has good software and hardware function expansibility. The model test platform provided by the invention keeps a dynamic positioning state in a storm environment, remotely accesses the DP control module through the operation terminal, applies test excitation through the fault injection software module, and tests the process control processing and positioning performance of the DP control module under the influence of the applied interference factors on line. The DP performance of the model test platform can be directly observed by a tester, and the processing process of the process control unit in the DP control module on the interference factors can be recorded in real time, so that real and objective experience and data information are provided for the functional integrity, stability, robustness and real-time research of the DP control system.
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FIG. 1 is a system structure diagram of the present invention, in which the dotted line is an Ethernet cable, the chain line is a serial communication line, and the solid line is a power supply line;
fig. 2 is a schematic diagram of fault injection in accordance with the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The invention provides a model test platform for a fault mode response test of a dynamic positioning system, which refers to the requirements of an IMO MSC.1Circ1580DP system. The model test platform has configuration and capability of realizing a dynamic positioning function in a certain wind and wave environment and consists of a test ship model, a power module (used for providing electric energy), a propulsion module, a DP control module and a remote operation terminal.
The test ship model has perfect quality characteristic parameters and hydrodynamic force characteristic parameters, and provides a basic basis for the function debugging and testing of the model test platform DP.
The power module comprises two sets of power lithium electricity and distribution switch in groups, can last the power supply more than 2 hours for model test platform. As shown in fig. 1, in this embodiment, BG-1 and BG-2 are two sets of 110V power batteries, one end of each battery is connected to a shore power interface, and the other end of each battery supplies power to the model test platform through a terminal strip.
The propulsion module consists of a propulsion control unit and 5 propellers, the propellers are driven by servo motors, and the propulsion control unit controls all the servo motors to execute propeller thrust instructions. As shown in FIG. 1, three tunnel type lateral thrusters (BTT1\ BTT2\ BTT3) in the embodiment are arranged at the bow part of the test ship model side by side, and the lateral thrust of the propellers is controlled by adjusting the positive and negative rotating speeds of the propellers. Two full-rotation contra-rotating propeller thrusters (MAT 4/MAT 5) are arranged at the tail part of the test ship model, and the thrust vector is controlled by adjusting the azimuth angle of the thrusters and the rotating speed of the propellers. The rotation speed and the azimuth angle of the tunnel type lateral thruster and the full-rotation contra-rotating propeller thruster are controlled by independent servo drivers. The servo driver receives the rotating speed and the rotation control command from the propulsion control unit through the serial bus and outputs an internal state feedback signal.
The DP control module consists of a process control unit, a man-machine interaction unit, a position reference unit, a measuring sensor and network communication equipment.
The position reference unit adopts two sets of position signal receiving antennas based on a Beidou satellite positioning system to measure the position information and the heading information of the test ship model.
The man-machine interaction unit provides an operation interface of the DP control module and comprises a virtual operation panel, a control handle and a display interface. And the man-machine interaction unit can record the equipment running state and the process control information of the DP control module in real time.
The measuring sensor comprises an electric compass, a motion reference unit and an anemorumbometer.
The network communication device includes a serial server, an ethernet switch, and a wireless router, as shown in fig. 1, in this embodiment, the network communication device implements data interaction by using a three-layer network architecture. In a three-layer network architecture, a bottom layer communication network is constructed based on a serial server S-1, the bottom layer communication network, a measuring sensor, a position reference unit and a propulsion control unit in a propulsion module are connected through a configurable serial port, protocol conversion between serial communication and Ethernet communication of bottom layer equipment of a DP control module is achieved, and a communication protocol of the bottom layer equipment conforms to NMEA 0183. The serial server S-1 realizes the conversion of a serial communication protocol and an Ethernet protocol (TCP/IP), converts signals from the propulsion control unit, the measurement sensor and the position reference unit into the Ethernet communication protocol, and realizes data interaction with a process control unit of the DP control module through an Ethernet switch S-2. The middle layer network is based on an Ethernet switch S-2 star connection process control unit, a man-machine interaction unit, a serial server S-1 and a wireless router S-3, and high-speed transmission of related data is achieved. The propulsion control unit, the measuring sensor, the position reference unit and the serial server S-1 are connected with the human-computer interaction unit through the Ethernet switch S-2, so that the propulsion control unit and the measuring sensor are communicated with the human-computer interaction unit through the Ethernet switch S-2, process control feedback and state information are output, and a human-computer interaction control instruction is received. The upper network is a wireless network and is used for realizing remote access of a remote terminal (OT) to the middle-layer network equipment. The wireless router S-3 is connected with the Ethernet switch S-2, a wireless access interface of the middle layer Ethernet equipment is provided, and a remote terminal (OT) is accessed to the wireless port to realize shore-based remote control and monitoring of the model test platform. In this embodiment, the remote terminal (OT) is a portable notebook, and by accessing the WIFI network of the test platform and remotely logging in the human-computer interaction unit, the test platform and the test process are remotely operated and monitored, and the downloaded data are processed and analyzed.
And the process processing unit adopts a high-performance industrial personal computer and runs a DP control program and a fault injection software module.
The fault injection software module is provided with a functional interface for applying test excitation such as equipment fault simulation, signal characteristic change, model parameter adjustment and the like in a mode of forcing variables, stacking parameters and the like, can carry out online test on the performance of the DP control module under the influence of the interference factors, and can observe the performance of the DP control module and the processing process of a software program in real time. The model test platform provided by the invention can provide a real and comprehensive information basis for the functional integrity, reliability, robustness and real-time research and design of the DP control module.
The fault injection software module has different fault injection modes aiming at different DP control modules: for model parameters of a model test platform, a fault injection software module provides a dialogue window, and the mass, the damping, the environmental load parameters, the propeller characteristic parameters, the observer parameters and the like of a test ship model can be modified on line. For the power module, the ship power system and the distribution board segment can be simulated, and the maximum available power limit is applied to the propeller. For the propeller module, the running state of the propeller can be simulated, the control instruction and the feedback signal of the propeller are forced, and the dynamic response characteristic of the propeller is set. For the position reference unit, except for simulating common excitation modes such as equipment failure fault, superimposed signal noise and the like, different fault modes can be simulated according to the functional principle difference, such as: based on a position reference unit of a satellite positioning system, a differential signal loss fault is simulated. For the measuring sensor, fault injection modes comprise simulation equipment failure, superimposed noise or pulse signals, forced deviation and the like, and different types of sensor signals can be virtualized.
Fig. 2 is a schematic diagram of fault injection in the present embodiment. And the fault injection software module runs in the DP control module, is provided with a dialog box interface and sets a corresponding test excitation mode aiming at the equipment type and the equipment signal characteristics. When the fault injection software module is not activated, the signal processing function directly reads information such as model parameters, reference positions, sensor data, propeller state information, power limitation and the like, and enters a process control loop. After the fault injection software module is activated, the object equipment and the mode of fault injection are selected through a dialog box interface, and the input signal enters a signal processing module and a control cycle process after being set and processed by the fault injection software module. No matter whether the input signal is superposed with the test excitation information or not, the signal processing module carries out monitoring processing such as comparison, filtering, interpolation, prediction and the like on the input signal, responds to the output of the signal processing process in the subsequent state observation, process control and thrust distribution processes, and is embodied in the actual positioning performance of the model test platform. And the Operation Terminal (OT) is accessed to a local area network formed by the Ethernet switch through a wireless route, and the operation terminal remotely controls the model test platform and remotely monitors the running state of the DP control module through a display interface of the remote sharing man-machine switching unit. And remotely activating the fault injection software module in the positioning state of the model test platform through the remote login process processing unit, applying targeted test excitation, and performing online test on the fault processing mechanism and the anti-interference capability of the DP control system.
The model test platform provided by the invention adopts a standard hardware interface form and a communication protocol, and an interface is reserved to facilitate the redundant configuration of the position reference unit and the measurement sensor, so that the model test platform has good function expansibility. The software related to the model test platform adopts a layered architecture and a modular design, and the modules adopt a standard function interface form, so that the model test platform has the characteristic of low coupling, and is convenient for iterative updating, maintenance and upgrading of the software modules. The fault injection software has a good operation interface, and great convenience is provided for remote operation.
Claims (10)
1. A model test platform for response test of fault modes of a dynamic positioning system refers to the requirements of an IMO MSC.1Circ1580DP system and has the function of realizing dynamic positioning under certain storm environmental conditions, and is characterized by comprising a test ship model, and a power module, a propulsion module, a DP control module and a remote operation terminal which are configured on the basis of the test ship model, wherein:
the test ship model has perfect quality characteristic parameters and hydrodynamic characteristic parameters;
the power module continuously supplies power to the model test platform;
the propulsion module comprises a propulsion control unit and a propeller arranged on the test ship model, and the propeller is controlled by the propulsion control unit;
the DP control module is configured with a fault injection software module, and the fault injection software module is utilized to apply test excitation aiming at a DP system fault mode, so that the reliability of each function of the DP control module is tested on line;
and the remote terminal is used for realizing shore-based remote control and monitoring of the model test platform.
2. The model test platform for dynamic positioning system fault mode response testing of claim 1, wherein the test stimulus that triggers the DP system fault mode includes model parameters, power limits, propeller faults, position reference unit faults, sensor faults, signal noise, virtual sensors.
3. The model test platform for dynamic positioning system fault mode response testing of claim 2, wherein the manner of applying the test stimulus comprises parameter adjustment, forced variables, superimposed noise, virtual equipment.
4. The model test platform for the fault mode response test of the dynamic positioning system as claimed in claim 1, wherein the DP control module comprises a process control unit, a human-computer interaction unit, a position reference unit, a measurement sensor and a network communication device, and the process control unit is configured with the fault injection software module.
5. The model test platform for fault mode response test of the dynamic positioning system according to claim 1, wherein the network communication device employs a three-layer network architecture to implement data interaction, the three-layer network architecture includes a bottom layer communication network constructed based on a serial server, an intermediate layer network based on an ethernet switch, and an upper layer network based on a wireless router, the serial server implements conversion between a serial communication protocol and the ethernet protocol, the wireless router is connected to the ethernet switch to provide a wireless access interface of the intermediate layer ethernet device, and the remote operation terminal accesses the wireless access interface, thereby implementing remote access of the remote operation terminal to the intermediate layer network device.
6. The model test platform for fault mode response test of dynamic positioning system of claim 5, wherein in the bottom layer communication network, the serial server connects the measurement sensor, the position reference unit and the propulsion control unit in the propulsion module through a configurable serial port, so as to realize protocol conversion between serial communication and Ethernet communication of the bottom layer device of the DP control module, and the communication protocol conforms to NMEA 0183; the serial server converts signals from the propulsion control unit, the measuring sensor and the position reference unit into an Ethernet communication protocol, and data interaction is realized through an Ethernet switch and the process control unit of the DP control module.
7. The model test platform for the fault mode response test of the dynamic positioning system as claimed in claim 6, wherein the ethernet switch is star-connected to the process control unit, the human-computer interaction unit, the serial server and the wireless router to realize the high-speed transmission of the related data; the propulsion control unit, the measuring sensor, the position reference unit and the serial port server are connected with the human-computer interaction unit through the Ethernet switch, so that the propulsion control unit, the measuring sensor, the position reference unit and the serial port server are communicated with the human-computer interaction unit through the Ethernet switch, process control feedback and state information are output, and a human-computer interaction control instruction is received.
8. The model test platform for the fault mode response test of the dynamic positioning system as claimed in claim 7, wherein the human-computer interaction unit provides an operation interface of the DP control module, and the human-computer interaction unit can record the device operation state and the process control information of the DP control module in real time.
9. The model test platform for fault mode response test of dynamic positioning system of claim 8, wherein after the remote operation terminal is connected to the wireless access interface, the remote operation terminal is connected to the local area network formed by the ethernet switch, and the model test platform is remotely controlled by remotely sharing the display interface of the man-machine switching unit.
10. The model test platform for fault mode response testing of dynamic positioning systems of claim 8, wherein said process processing unit is remotely logged in by said remote operation terminal, said fault injection software module is remotely activated in a positioning state of said model test platform, and a targeted test stimulus is applied to perform an on-line test on a fault handling mechanism and a tamper-resistant capability of a DP control system.
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| US20060116796A1 (en) * | 2002-12-30 | 2006-06-01 | Marine Cybernetics As | System and method for testing a control system of a marine vessel |
| US20060111855A1 (en) * | 2004-11-19 | 2006-05-25 | Marine Cybernetics As | Test method and system for dynamic positioning systems |
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Application publication date: 20210730 |