CN101661290A - All-real object test device and test method of control cabin of intelligent submersible vehicle - Google Patents
All-real object test device and test method of control cabin of intelligent submersible vehicle Download PDFInfo
- Publication number
- CN101661290A CN101661290A CN200910072924A CN200910072924A CN101661290A CN 101661290 A CN101661290 A CN 101661290A CN 200910072924 A CN200910072924 A CN 200910072924A CN 200910072924 A CN200910072924 A CN 200910072924A CN 101661290 A CN101661290 A CN 101661290A
- Authority
- CN
- China
- Prior art keywords
- control
- card
- watertight
- serial port
- cabin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 32
- 238000010998 test method Methods 0.000 title description 6
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000013031 physical testing Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 101000746134 Homo sapiens DNA endonuclease RBBP8 Proteins 0.000 description 1
- 101000969031 Homo sapiens Nuclear protein 1 Proteins 0.000 description 1
- 102100021133 Nuclear protein 1 Human genes 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
本发明提供的是一种智能潜水器控制舱的全实物测试装置及测试方法。水密接插线一端与控制舱水密插头联接，另一端将串行通信信号线接入普通PC多串口卡，将模拟电压信号线、数字信号线、脉冲信号线接入多功能卡。在普通PC中启动智能潜水器水动力学计算和传感器模拟程序，通过多串口卡上的指定串口和多功能卡上的指定端口接收指令进行动力学计算后，通过多串口卡和多功能卡，发回传感器状态信息；控制舱内各个嵌入式计算机程序启动，通过水密接插线发出控制指令，接收通过水密接插线返回的传感器信息；建立控制－传感器信息反馈－再控制－再反馈的信息循环，形成完整的控制程序调试闭环，长时间考核控制水密舱内软硬件的可靠性。
The invention provides an all-physical testing device and testing method for a control cabin of an intelligent submersible. One end of the watertight patch cord is connected to the watertight plug of the control cabin, the other end connects the serial communication signal line to the ordinary PC multi-serial port card, and connects the analog voltage signal line, digital signal line, and pulse signal line to the multi-function card. Start the hydrodynamic calculation and sensor simulation program of the intelligent submersible in the ordinary PC, and after receiving instructions through the designated serial port on the multi-serial port card and the designated port on the multi-function card for dynamic calculation, through the multi-serial port card and the multi-function card, Send back sensor status information; start each embedded computer program in the control cabin, issue control commands through watertight patch cords, and receive sensor information returned through watertight patch cords; establish control-sensor information feedback-re-control-re-feedback information cycle, forming a complete control program debugging closed loop, and evaluating the reliability of the hardware and software in the control watertight cabin for a long time.
Description
(一)技术领域 (1) Technical field
本发明涉及的是一种检测装置，具体地说是一种智能潜水器控制舱的全实物测试装置。本发明还涉及一种智能潜水器控制舱的全实物测试方法。The invention relates to a detection device, in particular to a full object test device for an intelligent submersible control cabin. The invention also relates to a full object testing method for the control cabin of the intelligent submersible.
(二)背景技术 (2) Background technology
随着科技的不断进步，智能潜水器作为船舶与海洋工程、机器人技术的学科交叉领域，得到了世界各国的广泛重视。智能潜水器在可广泛用于海底生物资源探查，矿产资源采样，海底地形勘测，沉物打捞，地震地热活动的监测，海洋环境监测，海洋工程维护等。经过多年来各国学者的努力，智能潜水器的功能不断完善。与此同时，控制舱的电子设备也越来越复杂。因此在载体安装完成之后，智能潜水器下水之前进行控制舱的全实物测试是十分必要的。目前绝大多数研究机构采用的控制舱全实物测试方式是陆上直接接入实物传感器，检测软件对传感器数据收发是否正常。这样的办法缺点明显，因整个程序运行过程中涉及到的载体运动摇荡，传感器数据的合理改变，执行机构(螺旋桨)等的输出都无法在陆地上实现。因此，不能构成控制程序检测的闭环。因此，研制出一种智能潜水器控制舱的全实物测试方法，接收控制输出，模拟传感器的变化、建立载体动力学响应，完成控制的闭环测试，是智能潜水器陆上测试的关键性技术问题。而本发明所述的全实物测试方法，满足以上要求。With the continuous advancement of science and technology, intelligent submersibles, as an interdisciplinary field of shipbuilding and marine engineering and robotics, have received extensive attention from all over the world. Intelligent submersibles can be widely used in seabed biological resource exploration, mineral resource sampling, seabed topographic survey, sunken object salvage, seismic and geothermal activity monitoring, marine environment monitoring, marine engineering maintenance, etc. After years of hard work by scholars from various countries, the functions of intelligent submersibles have been continuously improved. At the same time, the electronic equipment of the control cabin has become more and more complex. Therefore, after the installation of the carrier is completed, it is very necessary to conduct a full physical test of the control cabin before the intelligent submersible is launched. At present, most of the research institutions adopt the full physical test method of the control cabin, which is directly connected to the physical sensor on land, and detects whether the software is sending and receiving the sensor data normally. This method has obvious disadvantages, because the movement of the carrier involved in the entire program operation, the reasonable change of sensor data, and the output of the actuator (propeller) cannot be realized on land. Therefore, a closed loop of control program detection cannot be formed. Therefore, it is a key technical issue for land testing of intelligent submersibles to develop a full-physical test method for the control cabin of the intelligent submersible, receive the control output, simulate the changes of the sensor, establish the dynamic response of the carrier, and complete the closed-loop test of the control. . And the full object test method described in the present invention satisfies the above requirements.
西北工业大学先后发表了《某型水下航行器控制方案的半实物仿真》等6篇论文，论及了水下航行器半实物仿真方法。但此半实物仿真方法需要三轴电动转台和水压仿真器等辅助实物设备；无螺旋桨和浮力调整机构的测试手段；不能在控制舱全封闭下进行。哈尔滨工程大学甘永等在《系统仿真学报》发表了论文：《水下机器人半实物运动仿真系统的设计》，论及了水下机器人半实物仿真方法。但该论文所述方法不能在控制舱全封闭下进行；无舵机测试需要的脉冲频率和个数检测装置，不能实现舵翼等需要步进电机带动的执行机构实物测试；无浮力调整机构测试手段；执行机构输出通过网络，而不是实际输出。中科院沈阳自动化研究所孟宪伟等在《系统仿真学报》发表了论文《载人潜器半物理虚拟仿真系统及其性能分析》，介绍了载人潜器半物理仿真方法。但该论文所述方法需要现场总线控制器和10/100M工业以太网交换机；文中无舵机测试需要的脉冲频率和个数检测装置，不能实现舵翼等需要步进电机带动的执行机构实物测试；对于数字信号的采集与发送，该文中没有给出实现方式。Northwestern Polytechnical University has published 6 papers, including "Hyper-physical Simulation of a Certain Type of Underwater Vehicle Control Scheme", discussing the half-physical simulation method of underwater vehicles. However, this semi-physical simulation method requires auxiliary physical equipment such as a three-axis electric turntable and a hydraulic simulator; there is no testing method for propellers and buoyancy adjustment mechanisms; and it cannot be carried out under a fully enclosed control cabin. Gan Yong of Harbin Engineering University and others published a paper in the Journal of System Simulation: "Design of Underwater Robot Semi-physical Motion Simulation System", which discussed the semi-physical simulation method of underwater robots. However, the method described in this paper cannot be carried out under a fully enclosed control cabin; there is no pulse frequency and number detection device required for the steering gear test, and it is impossible to realize the actual test of the actuator such as the rudder wing that needs to be driven by a stepping motor; there is no buoyancy adjustment mechanism test Means; actuator output through the network, not actual output. Meng Xianwei, Shenyang Institute of Automation, Chinese Academy of Sciences, etc. published a paper "Semi-Physical Virtual Simulation System and Performance Analysis of Manned Submersible Vehicles" in the "Journal of System Simulation", introducing the semi-physical simulation method of manned submersibles. However, the method described in this paper requires a field bus controller and a 10/100M industrial Ethernet switch; there is no pulse frequency and number detection device required for the steering gear test, and it cannot realize the physical testing of actuators such as rudder wings that need to be driven by stepping motors ; As for the acquisition and transmission of digital signals, the implementation method is not given in this paper.
综上，已有技术中是采用半实物仿真方法，需要辅助设备或不能完全实现全实物闭环测试。To sum up, in the prior art, the hardware-in-the-loop simulation method is used, which requires auxiliary equipment or cannot fully realize the full-object closed-loop test.
(三)发明内容 (3) Contents of the invention
本发明的目的在于提供一种可以在智能潜水器安装之后，在不开控制水密舱的情况下，有效地完成控制水密舱内全部控制设备和计算机的闭环调试的一种智能潜水器控制舱的全实物测试装置及测试方法。The purpose of the present invention is to provide a kind of intelligent submersible control cabin that can effectively complete the closed-loop debugging of all control equipment and computers in the control watertight cabin without opening the control watertight cabin after the intelligent submersible is installed. Full physical testing device and testing method.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
智能潜水器控制舱的全实物测试装置的组成包括一台普通PC、安装完成的控制水密舱、多串口卡、多功能卡、水密接插线、控制水密舱直流稳压供电电源，所述的一台普通PC至少2个PCI插槽-插接多串口卡和具有AD、DA、DIO、计数器功能的多功能卡；水密接插线包括串行通信RS-232信号线、串行通信RS-485信号线、串行通信RS-422信号线、模拟信号输入线、模拟信号输出线、数字信号输入线、数字信号输出线、脉冲信号输出线、脉冲信号输入线；水密接插线一端与控制水密舱水密插头联接，另一端导线引出的连接关系为：串行通信RS-232信号线，接入多串口卡的RS-232串口的TX、RX、GND；串行通信RS-485信号线，接入多串口卡的RS-485串口的485+，485-；串行通信RS-422信号线，接入多串口卡的RS-422串口，T+、T-接入多串口卡该路的R+、R-；R+、R-接入该路的T+、T-；模拟信号输入线，接入多功能卡的DA输出端；模拟信号输出线，接入多功能卡的AD采集端；数字信号输入线，接入多功能卡的数字信号DO输出端；数字信号输出线，接入多功能卡的数字信号DI采集端；脉冲信号输出线，接入多功能卡的脉冲采集端；脉冲信号输入线，接入多功能卡的脉冲输出端。The composition of the full object test device of the intelligent submersible control cabin includes an ordinary PC, the installed control watertight cabin, multi-serial port cards, multi-function cards, watertight patch cords, and a DC stabilized power supply for controlling the watertight cabin. An ordinary PC has at least 2 PCI slots - plug multi-serial cards and multi-function cards with AD, DA, DIO, and counter functions; watertight patch cords include serial communication RS-232 signal lines, serial communication RS- 485 signal line, serial communication RS-422 signal line, analog signal input line, analog signal output line, digital signal input line, digital signal output line, pulse signal output line, pulse signal input line; one end of the watertight plug-in line and the control The watertight plug is connected in the watertight cabin, and the connection relationship of the leads at the other end is: serial communication RS-232 signal line, connected to TX, RX, GND of the RS-232 serial port of the multi-serial port card; serial communication RS-485 signal line, 485+, 485- connected to the RS-485 serial port of the multi-serial port card; serial communication RS-422 signal line, connected to the RS-422 serial port of the multi-serial port card, T+, T- connected to the R+ of this channel of the multi-serial port card , R-; R+, R- connected to the T+, T- of this road; the analog signal input line, connected to the DA output terminal of the multi-function card; the analog signal output line, connected to the AD acquisition terminal of the multi-function card; digital signal Input line, connected to the digital signal DO output end of the multi-function card; digital signal output line, connected to the digital signal DI acquisition end of the multi-function card; pulse signal output line, connected to the pulse acquisition end of the multi-function card; pulse signal input Line, connected to the pulse output terminal of the multi-function card.
基于智能潜水器控制舱的全实物测试系统的测试方法为：The test method of the full object test system based on the intelligent submersible control cabin is:
(1)按照原始定义，水密接插线一端与控制舱水密插头联接，另一端导线引出，将串行通信信号线接入普通PC多串口卡；将模拟电压信号线、数字信号线、脉冲信号线接入多功能卡；(1) According to the original definition, one end of the watertight patch cord is connected to the watertight plug of the control cabin, and the other end is led out, and the serial communication signal line is connected to the ordinary PC multi-serial port card; the analog voltage signal line, digital signal line, pulse signal Line access multi-function card;
(2)在普通PC中启动智能潜水器水动力学计算和传感器模拟程序，等待控制舱内各个嵌入式计算机发出控制指令，并通过多串口卡上的指定串口和多功能卡上的指定端口接收指令，根据6自由度空间动力学方程计算潜水器新的位置和姿态，按照实际传感器数据传输速率和传输格式定义，通过多串口卡和多功能卡发回传感器状态信息；(2) Start the hydrodynamic calculation and sensor simulation program of the intelligent submersible in the ordinary PC, wait for the control commands issued by each embedded computer in the control cabin, and receive them through the designated serial port on the multi-serial port card and the designated port on the multi-function card Command, calculate the new position and attitude of the submersible according to the 6-DOF space dynamics equation, and send back the sensor status information through the multi-serial port card and multi-function card according to the actual sensor data transmission rate and transmission format definition;
(3)控制舱内各个嵌入式计算机程序启动，通过水密接插线发出控制指令，接收通过水密接插线返回的传感器信息；(3) Start each embedded computer program in the control cabin, issue control commands through the watertight patch cord, and receive sensor information returned through the watertight patch cord;
(4)建立控制-传感器信息反馈-再控制-再反馈的信息循环，形成完整的控制程序调试闭环，长时间考核控制水密舱内软硬件的可靠性。(4) Establish a control-sensor information feedback-re-control-re-feedback information cycle to form a complete control program debugging closed loop, and evaluate the reliability of the software and hardware in the control watertight cabin for a long time.
本发明可有效地进行智能潜水器控制舱的全实物测试，可在线模拟传感器的数据变化、执行机构输出的载体动力学响应等。在控制舱全封闭的情况下，对控制舱内的计算机等硬件和软件程序进行全面而真实的实物测试。为智能潜水器下水试验做好充分准备。The invention can effectively carry out the full object test of the control cabin of the intelligent submersible, and can simulate the data change of the sensor, the dynamic response of the carrier output by the actuator and the like on-line. When the control cabin is fully enclosed, a comprehensive and real physical test is carried out on the computer and other hardware and software programs in the control cabin. Get fully prepared for the smart submersible water test.
本发明可在控制舱全封闭的情况下，只利用一台综合测试计算机，对控制舱内的计算机和软件程序进行全面而真实的闭环实物测试。全面模拟传感器和执行机构的模拟信号、数字信号、脉冲信号、串行通信数据。可实现传感器的实际输出模拟和对螺旋桨、舵翼、浮力调整机构执行机构、开关量的控制输出实际检测。The invention can carry out a comprehensive and real closed-loop physical test on the computer and software programs in the control cabin by using only one comprehensive test computer under the condition that the control cabin is completely closed. Fully simulate analog signals, digital signals, pulse signals, and serial communication data of sensors and actuators. It can realize the actual output simulation of the sensor and the actual detection of the control output of the propeller, the rudder wing, the actuator of the buoyancy adjustment mechanism, and the switch.
(四)附图说明 (4) Description of drawings
附图是本发明的智能潜水器控制舱的全实物测试装置的示意图。Accompanying drawing is the schematic diagram of the full object testing device of intelligent submersible control cabin of the present invention.
(五)具体实施方式 (5) Specific implementation methods
下面结合附图举例对本发明做更详细地描述：The present invention is described in more detail below in conjunction with accompanying drawing example:
结合附图测试设备包括一台普通PC1(至少2个PCI插槽-插接多串口卡2、多功能卡<需具有AD、DA、DIO、计数器功能>3)，安装完成的控制水密舱4，水密接插线，控制水密舱直流稳压供电电源。Combined with the accompanying drawings, the test equipment includes an ordinary PC1 (at least 2 PCI slots -
控制舱水密接插线可分为五类：串行通信RS-232信号线、串行通信RS-485信号线、串行通信RS-422信号线、模拟信号输入线、模拟信号输出线、数字信号输入线、数字信号输出线、脉冲信号输出线、脉冲信号输入线。The control cabin watertight patch cord can be divided into five categories: serial communication RS-232 signal line, serial communication RS-485 signal line, serial communication RS-422 signal line, analog signal input line, analog signal output line, digital Signal input line, digital signal output line, pulse signal output line, pulse signal input line.
按照原始定义，水密接插线一端与控制水密舱水密插头联接，另一端导线引出：According to the original definition, one end of the watertight patch cord is connected to the watertight plug of the control watertight cabin, and the other end leads out:
串行通信RS-232信号线，接入多串口卡的一路RS-232串口的TX、RX、GND；Serial communication RS-232 signal line, connected to TX, RX, GND of one RS-232 serial port of multi-serial port card;
串行通信RS-485信号线，接入多串口卡的一路RS-485串口的485+，485-；Serial communication RS-485 signal line, connected to one RS-485
串行通信RS-422信号线，接入多串口卡的一路RS-422串口，T+、T-接入多串口卡该路的R+、R-；R+、R-接入该路的T+、T-；Serial communication RS-422 signal line, connected to one RS-422 serial port of multi-serial port card, T+, T- connected to R+, R- of this channel of multi-serial port card; R+, R- connected to T+, T of this channel of multi-serial port card -;
模拟信号输入线，接入多功能卡的DA输出端的一路；The analog signal input line is connected to the DA output end of the multi-function card;
模拟信号输出线，接入多功能卡的AD采集端的一路；The analog signal output line is connected to one of the AD acquisition terminals of the multi-function card;
数字信号输入线，接入多功能卡的数字信号DO输出端的一路；The digital signal input line is connected to one of the digital signal DO output terminals of the multi-function card;
数字信号输出线，接入多功能卡的数字信号DI采集端的一路；The digital signal output line is connected to the digital signal DI acquisition end of the multi-function card;
脉冲信号输出线，接入多功能卡的脉冲采集端的一路；The pulse signal output line is connected to one of the pulse acquisition terminals of the multi-function card;
脉冲信号输入线，接入多功能卡的脉冲输出端的一路。The pulse signal input line is connected to one of the pulse output ends of the multi-function card.
多串口卡和多功能卡均采用PCI总线板卡，Windows下的驱动可由厂家获得。驱动多串口卡后，Windows设备管理器中出现通讯端口(COM3)-通讯端口(COM10)。加上PC主板自带两个通讯端口(COM1、COM2)，共有10个。这样可通过程序读写串口1-串口10，模拟输出多个传感器串行通信数据。其数据源为Windows下运行的水动力学仿真程序，数据传输速率和传输格式与实物传感器保持一致，返回传感器状态信息给控制舱。Both the multi-serial port card and the multi-function card use the PCI bus board, and the driver under Windows can be obtained from the manufacturer. After driving the multi-serial port card, the communication port (COM3)-communication port (COM10) appears in the Windows device manager. In addition, the PC motherboard comes with two communication ports (COM1, COM2), a total of 10. In this way, the serial port 1-serial port 10 can be read and written through the program, and the serial communication data of multiple sensors can be simulated and output. Its data source is a hydrodynamic simulation program running under Windows, the data transmission rate and transmission format are consistent with the physical sensor, and the sensor status information is returned to the control cabin.
其中：in:
com1-多普勒速度计com1-doppler speedometer
com2-导航系统com2-navigation system
com3-光纤罗经com3-fiber optic compass
com4-高度计com4-altimeter
com5-温盐深com5-warm salt deep
com6-前视声纳com6-forward looking sonar
com7-侧扫声纳com7 - side scan sonar
com8-电池组监测单元com8-Battery pack monitoring unit
com9-前浮力调整装置com9-front buoyancy adjustment device
com10-后浮力调整装置com10-rear buoyancy adjustment device
驱动多功能卡后，在Windows设备管理器中出现多功能卡标识。向指定寄存器地址写入即可输出电压模拟信号、数字信号、指定频率指定个数的脉冲(一般为方波)。这样可通过程序模拟输出传感器的电压模拟信号(如深度计，输出电压与深度成正比)、数字信号(如舱室漏水检测传感器输出)、脉冲(舵机转角传感器的反馈)，其数据源为Windows下运行的潜水器综合仿真程序，数据传输方式与实物传感器保持一致，通过多功能卡返回传感器状态信息给控制舱；After the multi-function card is driven, the multi-function card logo appears in the Windows Device Manager. Write to the specified register address to output voltage analog signal, digital signal, and specified number of pulses with specified frequency (usually square wave). In this way, the voltage analog signal (such as the depth gauge, the output voltage is proportional to the depth), the digital signal (such as the output of the cabin water leakage detection sensor), and the pulse (the feedback of the steering gear angle sensor) can be simulated by the program. The data source is Windows The comprehensive simulation program of the submersible under the operation, the data transmission mode is consistent with the physical sensor, and the sensor status information is returned to the control cabin through the multi-function card;
向指定寄存器地址读取即可得到输入电压模拟信号、数字信号、脉冲的频率与个数。控制舱发出的控制指令，包括电压模拟信号(给螺旋桨的控制指令)、数字信号(其他设备继电器的控制信号)、脉冲(舵机步进电机驱动器的输入)。这些控制指令接入多功能卡，潜水器综合仿真程序读取这些指令，作为程序更新的输入，决定虚拟设备关开，计算螺旋桨推力和舵力，加载入六自由度动力学计算程序，计算潜水器新的位置和姿态，通过多串口卡中的各个串口、多功能卡中的输出通道，发送回控制水密舱。Read the specified register address to get the input voltage analog signal, digital signal, frequency and number of pulses. The control commands issued by the control cabin include voltage analog signals (control commands for propellers), digital signals (control signals for other equipment relays), and pulses (inputs for steering gear stepper motor drivers). These control commands are connected to the multi-function card, and the comprehensive simulation program of the submersible reads these commands as the input of the program update, determines whether the virtual device is turned on or off, calculates propeller thrust and rudder force, loads it into the six-degree-of-freedom dynamics calculation program, and calculates the diving The new position and attitude of the controller are sent back to the control watertight cabin through each serial port in the multi-serial port card and the output channel in the multi-function card.
控制水密舱内的嵌入式计算机中烧入的控制程序，与PC中的潜水器综合仿真程序，通过多串口卡、多功能卡、水密接插线传输数据。控制舱内的控制程序得到的输入信息接收方式和控制信息的输出方式，与实艇下水后的完全一致。这样的全闭环测试，可保证智能潜水器控制硬件的测试完整性。对于控制舱内的控制程序，其完全不必考虑是实艇实验状态，还是实物测试状态，保证了程序测试的一致性。Control the control program burned into the embedded computer in the watertight cabin, and the submersible comprehensive simulation program in the PC, and transmit data through multi-serial port cards, multi-function cards, and watertight patch cords. The input information receiving mode and control information output mode obtained by the control program in the control cabin are exactly the same as those after the real boat is launched. Such a fully closed-loop test can ensure the test integrity of the control hardware of the intelligent submersible. For the control program in the control cabin, it does not need to consider whether it is the real boat experiment state or the physical test state, which ensures the consistency of the program test.
智能潜水器控制舱的全实物测试方法包括：The full object test method of the intelligent submersible control cabin includes:
1.按照原始定义，水密接插线一端与控制水密舱水密插头联接，另一端导线引出，将串行通信信号线接入多串口卡；将模拟电压信号线、数字信号线、脉冲信号线接入多功能卡。1. According to the original definition, one end of the watertight patch cord is connected to the watertight plug of the control watertight cabin, and the other end is led out to connect the serial communication signal line to the multi-serial port card; connect the analog voltage signal line, digital signal line, and pulse signal line to the Enter the multi-function card.
2.驱动多串口卡和多功能卡，使PC中的Windows程序可以调用函数对多串口卡上的各个串口和多功能卡上的DA端口、AD端口、DI端口、DO端口、脉冲计数端口、脉冲发出端口进行操作。2. Drive the multi-serial port card and multi-function card, so that the Windows program in the PC can call functions for each serial port on the multi-serial port card and DA port, AD port, DI port, DO port, pulse counting port, The pulse-emitting port operates.
3.在PC中的Windows启动智能潜水器水动力学仿真和传感器模拟程序，等待控制舱内各个嵌入式计算机发出控制指令，通过多串口卡接收嵌入式计算机发出的浮力调整装置注排油串行信号，各传感器数据请求信号等；通过多功能卡接收嵌入式计算机发出螺旋桨控制电压信号、舵翼步进电机命令脉冲、各传感器和执行机构的开关量(数字信号)。3. Start the hydrodynamic simulation and sensor simulation program of the intelligent submersible on Windows in the PC, wait for the control commands issued by each embedded computer in the control cabin, and receive the buoyancy adjustment device from the embedded computer through the multi-serial port card. Signals, data request signals of each sensor, etc.; through the multi-function card, the embedded computer sends the propeller control voltage signal, the rudder blade stepping motor command pulse, the switching value (digital signal) of each sensor and actuator.
4.动力学仿真和传感器仿真程序根据控制输入计算后，通过多串口卡上的指定串口和多功能卡上的指定端口，按照实际传感器数据传输速率和传输格式定义，通过多串口卡和多功能卡发回传感器状态信息。4. After the dynamics simulation and sensor simulation programs are calculated according to the control input, through the designated serial port on the multi-serial port card and the designated port on the multi-function card, according to the actual sensor data transmission rate and transmission format definition, through the multi-serial port card and the multi-function card The card sends back sensor status information.
5.控制舱内各个嵌入式计算机通过水密接插线发出控制指令，接收通过水密接插线返回的传感器信息。5. Each embedded computer in the control cabin sends control commands through watertight patch cords and receives sensor information returned through watertight patch cords.
6.建立控制-传感器信息反馈-再控制-再反馈的信息循环，形成完整的控制程序调试闭环。长时间考核控制水密舱内软硬件的可靠性。6. Establish a control-sensor information feedback-re-control-re-feedback information cycle to form a complete control program debugging closed loop. Long-term assessment and control of the reliability of the software and hardware in the watertight cabin.
本发明可有效地进行智能潜水器控制舱的全实物测试，可在线模拟传感器的数据变化、执行机构输出的载体动力学响应等。在控制舱全封闭的情况下，对控制舱内的计算机等硬件和软件程序进行全面而真实的实物测试。为智能潜水器下水试验做好充分准备。The invention can effectively carry out the full object test of the control cabin of the intelligent submersible, and can simulate the data change of the sensor, the dynamic response of the carrier output by the actuator and the like on-line. When the control cabin is fully enclosed, a comprehensive and real physical test is carried out on the computer and other hardware and software programs in the control cabin. Get fully prepared for the smart submersible water test.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100729241A CN101661290B (en) | 2009-09-18 | 2009-09-18 | All-real object test device and test method of control cabin of intelligent submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100729241A CN101661290B (en) | 2009-09-18 | 2009-09-18 | All-real object test device and test method of control cabin of intelligent submersible vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101661290A true CN101661290A (en) | 2010-03-03 |
| CN101661290B CN101661290B (en) | 2011-05-11 |
Family
ID=41789357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100729241A Active CN101661290B (en) | 2009-09-18 | 2009-09-18 | All-real object test device and test method of control cabin of intelligent submersible vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101661290B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698924A (en) * | 2015-02-04 | 2015-06-10 | 深圳市瑞尔时代科技有限公司 | Integrated intelligent monitoring mainframe |
| CN108303965A (en) * | 2018-01-03 | 2018-07-20 | 广东东箭汽车科技股份有限公司 | Test circuit, test method and the test equipment of electrically operated gate ECU |
| CN114689347A (en) * | 2020-12-28 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Unmanned submersible auxiliary test system |
| CN117311191A (en) * | 2023-10-27 | 2023-12-29 | 潜行创新(成都)机器人科技有限公司 | Unmanned remote control submersible scene simulation system and method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7336174B1 (en) * | 2001-08-09 | 2008-02-26 | Key Control Holding, Inc. | Object tracking system with automated system control and user identification |
| CN101334642A (en) * | 2007-06-29 | 2008-12-31 | 上海电气风电设备有限公司 | Low-temperature status blower fan control system and method |
| CN201145845Y (en) * | 2007-12-14 | 2008-11-05 | 金龙哲 | Apparatus for monitoring removable emergency survival capsule |
| CN101403898A (en) * | 2008-10-31 | 2009-04-08 | 中国航空无线电电子研究所 | Input method and apparatus for electronic system of civil aircraft control cabin |
-
2009
- 2009-09-18 CN CN2009100729241A patent/CN101661290B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698924A (en) * | 2015-02-04 | 2015-06-10 | 深圳市瑞尔时代科技有限公司 | Integrated intelligent monitoring mainframe |
| CN108303965A (en) * | 2018-01-03 | 2018-07-20 | 广东东箭汽车科技股份有限公司 | Test circuit, test method and the test equipment of electrically operated gate ECU |
| CN108303965B (en) * | 2018-01-03 | 2024-04-05 | 广东东箭汽车科技股份有限公司 | Test circuit, test method and test equipment of electric door ECU |
| CN114689347A (en) * | 2020-12-28 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Unmanned submersible auxiliary test system |
| CN117311191A (en) * | 2023-10-27 | 2023-12-29 | 潜行创新(成都)机器人科技有限公司 | Unmanned remote control submersible scene simulation system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101661290B (en) | 2011-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108897322B (en) | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method | |
| CN101344460B (en) | Underwater robot sensor fault diagnosis method and system | |
| CN101323363A (en) | A large-depth unmanned submersible and its depth composite control method | |
| CN104267606B (en) | A kind of power-positioning control system hardware-in-the-loop test emulator and method of work thereof | |
| CN203689153U (en) | Overwater exploring and sampling vessel | |
| CN101661290A (en) | All-real object test device and test method of control cabin of intelligent submersible vehicle | |
| CN113741213B (en) | Deepwater semi-submersible platform mooring tieback installation operation simulation platform | |
| CN104090497A (en) | Power positioning system simulation platform used for ocean engineering field and working method thereof | |
| CN202442859U (en) | Self-propelled vessel model measurement and control device | |
| Xiang et al. | Motion forecast of intelligent underwater sampling apparatus——Part I: Design and algorithm | |
| CN109739108A (en) | AUV motion control system hardware-in-the-loop test simulation system and its working method | |
| CN105955068B (en) | A kind of shipborne stable platform experiment system and its working method | |
| CN104714418A (en) | Semi-physical simulation system for testing control performance of unmanned surface vessel | |
| CN104867369B (en) | Movement simulating device and method of unmanned submersible vehicle | |
| CN103592853B (en) | Dynamic positioning semi-physical simulation platform and method | |
| CN105825738B (en) | A kind of hydrofoil catamaran semi-matter simulating system | |
| CN111045424B (en) | Test system of intelligent ship decision instruction interpretation module | |
| CN107290979B (en) | A kind of multiaxis electric propulsion semi-physical object simulating test platform | |
| CN114495634B (en) | Manned simulator control and simulation training device and training method | |
| CN202331057U (en) | Underwater robot sub-control system | |
| CN113189964A (en) | Model test platform for fault mode response test of dynamic positioning system | |
| CN103400517A (en) | Semi-physical simulation system and manipulating method during lifesaving process of deep submergence rescue vessel | |
| CN114741778A (en) | Unmanned ship autonomous capability testing system and method based on man-machine game | |
| CN210895059U (en) | Deep sea mobile platform integrated electronic control system | |
| CN205485374U (en) | Semi -physical simulation platform based on underwater robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170203 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Patentee after: Gao Liangtian Patentee after: Sun Yushan Patentee after: Jia Hui Address before: 150001 Heilongjiang, Nangang District, Nantong street, building No. 145, Harbin Engineering University, Intellectual Property Office Patentee before: Harbin Engineering Univ. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170914 Address after: 150028, Heilongjiang hi tech Industrial Development Zone, Harbin science and technology innovation city, innovation and entrepreneurship Plaza, building 15 (192 bright moon street) torch networking building, room 349 Patentee after: Harbin ha te special equipment technology development Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Gao Liangtian Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University Co-patentee before: Sun Yushan Co-patentee before: Jia Hui |