根据紧凑型船舶动力定位控制研究及设计的需求,设计了对应的半物理仿真系统.该系统建立船舶运动及海洋环境计算机模型模拟器、全尺寸控制器和全尺寸操作终端,并通过基于DirectX的三维动画模拟器进行船舶三维运动效果展示.全尺寸控制器与船舶上实际使用的控制器在网络接口、信号输入/输出接口上完全一致,以便提前进行船舶动力定位控制系统半物理仿真及验证,降低了调试成本和风险,提高在水池及海洋进行实物调试的效率.该仿真验证平台考虑了船舶动力定位控制系统实际运行环境,引入了外载荷模型,提高了仿真验证的可信度.文中给出了仿真实例,验证了系统的有效性.%Hardware-in-the-loop system is designed according to the demands of study and design. In the system, computer model simulators on ship motion and sea environment, full-scale controller and full-scale operation terminal are implemented and 3D ship motion is shown by a 3D simulator based on DirectX. A full-scale controller has the same network interface, signal input/output interface with the practical controller used in the ship. Validated simulation can be taken using the hardware-in-the-loop simulation platform to decrease the cost of test and risk and increase the test efficiency of tank experiment and practical test in the sea. On the hardware-in-the-loop simulation platform, a load model is built to describe the sea environment, and the reliability of simulation system is increased. At the end of the paper, an example shows the validity of the system.
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