基于嵌入式的船舶控制器设计与实现

Design and implementation of ship controller based on Embedded System

为提高船舶系统运行的稳定性,需要进行鲁棒控制设计。提出一种基于嵌入式的船舶控制器设计方案,首先采用自适应PID控制律进行船舶控制算法设计,然后在嵌入式ARM环境中进行船舶控制器的硬件设计,将控制算法加载到DSP处理芯片中,实现控制程序写入,完成嵌入式船舶控制器的集成设计和软件开发。实验测试结果表明,该船舶控制器具有较好的船舶位姿控制性能,提高了船舶航行的稳定性,控制器的鲁棒性较好。

In order to improve the stability of the ship power system, the need for robust control design, proposes a ship controller design scheme based on embedded PID, adopting the adaptive control law of control algorithm design and hardware design of the ship, the ship controller in embedded ARM environment, will be loaded into the control algorithm in the DSP chip, to achieve control the program is written, the completion of the embedded controller of ship integrated design and software development. The final test results show that the ship, the ship position controller has better control performance,improve the stability of the sailing ship, the robustness of the controller is good.