CN112946709A - Virtual test system for intelligent navigation fault condition response of ship - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/32—Electron compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses a virtual test system for intelligent ship navigation fault condition response, which comprises a virtual test software system, a sensor combination, a comprehensive control execution system, a propeller control module, a steering engine control module, a power supply, a second bus, a power supply line, a signal line and a master control console, wherein the sensor combination is connected with the virtual test software system; the virtual test software system, the sensor combination, the comprehensive control execution system, the propeller control module and the steering engine control module are connected to a second bus; the power supply, the sensor combination, the master control console, the comprehensive control execution system, the propeller control module and the steering engine control module are connected to the power supply line and the signal line. The sensor combination, the comprehensive control execution system, the propeller control module, the rudder machine control module and the power supply are respectively provided with at least one virtual fault mode; the virtual test software system is used for acquiring a fault injection strategy and controlling each module or power supply to enter a corresponding virtual fault mode according to the fault injection strategy. The invention is widely applied to the technical field of ship intellectualization.
Description
Technical Field
The invention relates to the technical field of ship intelligence, in particular to a virtual test system for intelligent ship navigation fault condition response.
Background
An intelligent ship is a complex system which integrates a plurality of technical fields such as environment perception technology, internet of things technology, artificial intelligence technology, communication technology and the like in a cross fusion mode. The core of the intelligent research and development and verification of the ship is testing, and the research and development and implementation of the intelligent function of the ship depend on testing and verification technology to carry out detection and testing in the design and practice stages. Before the intelligent ship is put into practical industrial application, the functions of remote driving, autonomous navigation and the like of the intelligent ship need to be tested and verified systematically and reliably, and response level tests need to be carried out according to typical fault conditions which may occur at any time of the ship. If the response test is not carried out on the real ship, the difference between the virtual ship and the real situation is larger, and the capability of ship workers for solving the fault in the actual operation is difficult to train and improve; if a real ship is adopted to carry out fault condition response level test, a large amount of resource waste is caused, and the test sample (ship) is damaged.
Disclosure of Invention
The invention aims to test the safety and the rationality of an intelligent navigation algorithm and a theory of a ship under a fault working condition through fault injection simulation. The invention utilizes virtual simulation and model test as the part of the ship hardware module of the integral design, and the modularized embedded equipment realizes a virtual software test system. The hardware module parts are connected with each other through signal lines, connected with a virtual software testing system through a second bus, and connected with a master control console through a power supply line power supply; each hardware module has different virtual fault modes respectively, and the faults of the real ship navigation condition are highly restored. The virtual software testing system realizes the simulation of a virtual fault mode of the hardware module part of the intelligent ship and injects a corresponding fault injection strategy through a fault injection computer. The ship intelligent navigation fault working condition response virtual test system built in the way is low in cost, relatively simple in building process and close to the real condition, and a ship intelligent navigation coping strategy under the fault working condition is favorably formed.
The technical scheme provided by the invention is as follows:
a virtual test system for intelligent ship navigation fault condition response comprises a virtual test software system, a sensor combination, a comprehensive control execution system, external input equipment, a propeller control module, a rudder machine control module, a power supply, a second bus, a power supply line and a signal line;
the virtual test software system, the sensor combination, the comprehensive control execution system, the propeller control module and the steering engine control module are connected to a second bus; the power supply, the sensor combination, the master control console, the comprehensive control execution system, the propeller control module and the steering engine control module are connected to a power supply line; the sensor combination is connected to the comprehensive execution system through a signal line; the comprehensive execution system is respectively connected to the propeller control module and the virtual test software system through signal lines; the propeller control module is connected into the rudder control module through a signal line;
the sensor combination, the comprehensive control execution system, the propeller control module, the rudder machine control module and the power supply are respectively provided with at least one virtual fault mode; the virtual test software system is used for acquiring a fault injection strategy and controlling the sensor combination, the comprehensive control execution system, the propeller control module, the steering engine control module or the power supply to enter a corresponding virtual fault mode according to the fault injection strategy.
Further, the virtual test system of boats and ships intelligence navigation fault condition response still includes:
the external input equipment is used for artificially setting a virtual fault mode;
the comprehensive test diagnosis system is used for acquiring a virtual fault mode and detecting the position and the reason of the fault;
the virtual test console is used for executing the control instruction;
and the first bus is used for connecting the virtual test software system and the virtual test console.
Further, the virtual failure modes of the power supply include a first virtual failure, a second virtual failure, a third virtual failure, and a fourth virtual failure. The first virtual fault is a power supply fault of the sensor combination module; the second virtual fault is a power supply fault of the integrated control execution system; the third virtual fault is a power supply fault of the propeller control module; and the fourth virtual fault is a power supply fault of the steering engine control module. The various virtual faults respectively correspond to different fault injection strategies. The fault injection strategy corresponding to the first virtual fault is to disconnect a certain single sensor power supply line; the fault injection strategy corresponding to the second virtual fault is to disconnect the power supply line of the integrated control execution system; the fault injection strategy corresponding to the third virtual fault is to disconnect the power supply line of the propeller control module; and the fault injection strategy corresponding to the fourth virtual fault is to disconnect a power supply line of the steering engine control module.
Further, the virtual failure mode of the second bus communication includes a fifth virtual failure and a sixth virtual failure. The fifth virtual fault is a bus communication fault of the comprehensive control execution system; and the sixth virtual fault is a virtual detection software system bus communication fault. The fault injection strategy corresponding to the fifth virtual fault is to disconnect a bus interface of the comprehensive control execution system; and the fault injection strategy corresponding to the sixth virtual fault is to disconnect the bus interface of the virtual test software system.
Further, the virtual failure modes of the sensor combinations include a seventh virtual failure, an eighth virtual failure, a ninth virtual failure, a tenth virtual failure, an eleventh virtual failure, a twelfth virtual failure. The seventh virtual fault is a differential GPS no-signal; the eighth virtual fault is no data output of the millimeter wave radar; the ninth virtual fault is no image display of the laser radar; the tenth virtual fault is that the rotating speed of the propeller is 0; the eleventh virtual fault is an electrical compass numerical anomaly; the twelfth virtual fault is that the numerical value of the rudder angle sensor is abnormal.
The fault injection strategy corresponding to the seventh virtual fault is to disconnect a differential GPS signal line, the fault injection strategy corresponding to the eighth virtual fault is to disconnect a millimeter wave radar signal line, the fault injection strategy corresponding to the ninth virtual fault is to disconnect a laser radar signal line, the fault injection strategy corresponding to the tenth virtual fault is to disconnect a propeller power supply line, the fault injection strategy corresponding to the eleventh virtual fault is to disconnect an electric compass signal line, and the fault injection strategy corresponding to the twelfth virtual fault is to disconnect a rudder angle sensor signal line.
Further, the virtual fault modes of the integrated control execution system include a thirteenth virtual fault and a fourteenth virtual fault. A thirteenth virtual fault is a propeller control failure; and the fourteenth virtual fault is the failure of the steering engine control. The fault injection strategy corresponding to the thirteenth virtual fault is to disconnect the propeller signal input interface; and the fault injection strategy corresponding to the fourteenth virtual fault is to disconnect the signal input interface of the steering engine.
Further, the virtual failure modes of the propeller control module include a fifteenth virtual failure, a sixteenth virtual failure, and a seventeenth virtual failure. The fifteenth virtual fault is propeller jamming; the sixteenth virtual fault is that a propeller signal cannot be input; a seventeenth virtual fault is a motor stator coil open circuit. A fault injection strategy corresponding to the fifteenth virtual fault is to disconnect a power supply line of the propeller motor; the fault injection strategy corresponding to the sixteenth virtual fault is to disconnect the propeller control signal line; the fault injection strategy corresponding to the seventeenth virtual fault is to disconnect the stator coil of the motor.
Further, the virtual fault modes of the steering engine control module include an eighteenth virtual fault, a nineteenth virtual fault, and a twentieth virtual fault. The eighteenth virtual fault is that the steering engine is locked; the nineteenth virtual fault is that a rudder angle signal cannot be input; the twentieth virtual fault is an encoder output anomaly or no output. The fault injection strategy corresponding to the eighteenth virtual fault is to disconnect a power supply line of the steering engine; the fault injection strategy corresponding to the nineteenth virtual fault is to disconnect a steering engine control signal line; and the fault injection strategy corresponding to the twentieth virtual fault is to connect failed encoders.
Furthermore, the invention also depends on virtual and actual test data to evaluate the fault indexes. The actual test data comprises historical fault working condition response test data, historical actual fault working condition data and the like; the virtual test data is generated by simulation, the logic algorithm of the virtual test data is realized in a digital twin space, and the effective response rate of the intelligent navigation system of the ship under different virtual fault modes is calculated so as to evaluate the safety and reliability of the intelligent navigation system.
The invention has the beneficial effects that: the virtual software testing system is realized by using the virtual simulation and the model test as the part of the integrally designed ship hardware module and modularizing the embedded equipment. Each hardware module has different virtual fault modes respectively, and the real fault situation of ship navigation is highly restored. The virtual software testing system realizes the simulation of a virtual fault mode of the hardware module part of the intelligent ship and injects a corresponding fault injection strategy through a fault injection computer. The ship intelligent navigation fault working condition response virtual test system built in the way is low in cost, relatively simple in building process and close to the real situation, and is beneficial to training ship workers and improving the fault solving capability in actual operation.
Drawings
FIG. 1 is a structural composition and test flow chart of a ship intelligent navigation fault response virtual test system.
Detailed Description
Example 1
In this embodiment, a boats and ships intelligence navigation fault operating mode response test system refers to fig. 1, includes: the system comprises a virtual test software system, a virtual test console, a comprehensive test diagnosis system, an external input device, a sensor combination, a comprehensive control execution system, a propeller control module, a steering engine control module, a first bus, a second bus, a signal line, a power supply line and a power supply and main console.
The virtual test software system is accessed to the second bus and is accessed to the virtual test console through the first bus; the comprehensive test diagnosis system is accessed to a second bus; the sensor combination is respectively connected to the second bus and the power supply line; the comprehensive control execution system is respectively connected to the second bus and the power supply line, receives the pulse signal from the sensor combination through the signal line, and is connected to the virtual test software system through the signal line; the propeller control module is respectively connected to the second bus and the power supply line and receives the rotating speed input from the comprehensive control execution system through the signal line; and the rudder control module is respectively connected with the second bus and the power supply line and receives rudder angle input from the comprehensive control execution system through the signal line. The whole system is provided by a power supply and an overall control desk and controls the power supply line to supply electric signals.
The comprehensive test diagnosis system can receive the virtual fault mode and detect the position and the reason of the fault.
And the virtual test console (control center) is controlled by ship workers. And the staff carries out man-machine interaction through a command line interface of the virtual test console, so that simulated fault injection is realized.
The sensor combination comprises a GPS receiver, a millimeter wave radar, a laser radar, a propeller rotation speed sensor, an electric compass direction sensor and a rudder angle sensor. The sensors are connected in a combined manner through signal wires.
The virtual test software system obtains input of a simulation fault mode, wherein the input comprises power supply communication faults, second bus communication faults, sensor combination faults, comprehensive control execution system faults, propeller control faults and steering engine control module faults. And the fault injection strategies corresponding to different virtual fault modes can be obtained.
The power supply communication module comprises four virtual fault modes, wherein the fault modes are numbered as a first virtual fault, a second virtual fault, a third virtual fault and a fourth virtual fault. Specifically, the first virtual fault simulation appears as a "sensor combination module power supply fault"; the second virtual fault simulation is expressed as 'comprehensive control execution system power supply fault'; the third virtual fault simulation shows that the power supply fault of the propeller control module is' detected; the fourth virtual fault simulation shows that the steering engine control module has power supply fault. As shown in table 1, when the fault injection policy acquired by the virtual test software system is "disconnect a single sensor power supply line", the virtual test software system controls the virtual fault mode of the sensor combination module to simulate a first virtual fault; when the fault injection strategy acquired by the virtual test software system is 'disconnection of the power supply line of the integrated control execution system', the virtual test software system controls the virtual fault mode of the integrated control execution system to simulate a second virtual fault; when the fault injection strategy acquired by the virtual test software system is 'the power supply line of the propeller control module is disconnected', the virtual test software system controls the virtual fault mode of the propeller control module to simulate a third virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'disconnection of a power supply line of the rudder machine control module', the virtual test software system controls a virtual fault mode of the rudder machine control module to simulate a fourth virtual fault.
The virtual fault modes of the second bus communication comprise two fault modes, and the virtual fault modes are numbered as a fifth virtual fault and a sixth virtual fault. Specifically, the fifth virtual fault simulation represents a bus communication fault of the integrated control execution system; and simulating the sixth virtual fault to show the bus communication fault of the virtual test software system. As shown in table 1, when the fault injection policy acquired by the virtual test software system is "disconnect the bus interface of the integrated control execution system", the virtual test software system controls the virtual fault mode of the integrated control execution system to simulate a fifth virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'disconnection of the bus interface of the virtual test software system', the virtual software test system controls the virtual fault mode of the comprehensive execution system to simulate a sixth virtual fault.
The virtual fault modes of the sensor combination comprise six fault modes, wherein the six fault modes are a seventh virtual fault, an eighth virtual fault, a ninth virtual fault, a tenth virtual fault, an eleventh virtual fault and a twelfth virtual fault, and specifically, the seventh virtual fault simulates a fault represented by a differential GPS no-signal phenomenon; the eighth virtual fault simulation shows that the millimeter wave radar has no data output; the ninth virtual fault simulation is expressed as laser radar no-image display; the tenth virtual fault simulation is represented as "propeller rotation speed is 0"; the eleventh virtual fault simulation shows that the electric compass numerical value is abnormal; the twelfth virtual fault simulation appears as "rudder angle sensor numerical value abnormality". As shown in table 1, when the fault injection policy acquired by the virtual test software system is "disconnect differential GPS signal line", the virtual test software system controls the virtual fault mode of the sensor combination to simulate a seventh virtual fault; when the fault injection strategy acquired by the virtual test software system is 'millimeter wave radar signal line disconnection', the virtual test software system controls a virtual fault mode of the sensor combination to simulate an eighth virtual fault; when the fault injection strategy acquired by the virtual test software system is 'disconnecting the laser radar signal line', the virtual test software system controls a virtual fault mode of the sensor combination to simulate a ninth virtual fault; when the fault injection strategy acquired by the virtual test software system is 'the propeller power supply line is disconnected', the virtual test software system controls a virtual fault mode of the sensor combination to simulate a tenth virtual fault; when the fault injection strategy acquired by the virtual test software system is 'breaking the electric compass signal line', the virtual test software system controls the virtual fault mode of the sensor combination to simulate an eleventh virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'disconnecting the signal line of the rudder angle signal sensor', the virtual test software system controls the virtual fault mode of the sensor combination to simulate a twelfth virtual fault.
The virtual failure modes of the integrated control execution system include two failure modes, and the failure modes are numbered as a thirteenth virtual failure and a fourteenth virtual failure. In particular, the thirteenth virtual fault simulation appears as a "propeller control failure"; the fourteenth virtual fault simulation shows that the steering engine control fails. As shown in table 1, when the fault injection policy acquired by the virtual test software system is "turn off the propeller signal input interface", the virtual test software system controls the virtual fault mode of the integrated control execution system to simulate a thirteenth virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'disconnection of the steering engine signal input interface', the virtual test software system controls the virtual fault mode of the comprehensive control execution system to simulate a fourteenth virtual fault.
The virtual fault modes of the propeller control module comprise three fault modes, and the fault modes are numbered as a fifteenth virtual fault, a sixteenth virtual fault and a seventeenth virtual fault. Specifically, the fifteenth virtual fault simulation shows "propeller seizure", the sixteenth virtual fault simulation shows "propeller signal is not input", and the seventeenth virtual fault simulation shows "motor stator coil open". As shown in table 1, when the fault injection policy obtained by the virtual test software system is "disconnect the propeller motor power supply line", the virtual test software system controls the virtual fault of the propeller control module to be a fifteenth virtual fault; when the fault injection strategy acquired by the virtual test software system is 'the propeller control signal line is disconnected', the virtual test software system controls the virtual fault of the propeller control module to be a sixteenth virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'disconnecting the stator coil of the motor', the virtual test software system controls the virtual fault of the propeller control module to be a seventeenth virtual fault.
The virtual fault modes of the rudder control module comprise three fault modes, and the fault modes are numbered as an eighteenth virtual fault, a nineteenth virtual fault and a twentieth virtual fault. Specifically, the eighteenth virtual fault simulation shows that the steering engine is locked, the nineteenth virtual fault simulation shows that the steering engine signal cannot be output, and the twentieth virtual fault simulation shows that the encoder output is abnormal or has no output. As shown in table 1, when the fault injection policy obtained by the virtual test software system is "disconnect the steering engine power supply line", the virtual test software system controls the virtual fault of the steering engine control module to be an eighteenth virtual fault; when the fault injection strategy acquired by the virtual test software system is 'disconnection of the steering engine control signal line', the virtual test software system controls the virtual fault of the steering engine control module to be a nineteenth virtual fault; and when the fault injection strategy acquired by the virtual test software system is 'connection failure encoder', the virtual test software system controls the virtual fault of the rudder machine control module to be the twentieth virtual fault.
The ship crew can manually set the fault type through an external input device. And analyzing fault information transmitted by the external input equipment by the virtual test software system, diagnosing whether the fault can be repaired by itself or not, and injecting a corresponding fault injection strategy according to a diagnosis result.
TABLE 1 Intelligent Ship virtual test Fault injection Pattern set and injection strategy
Claims (9)
1. A virtual test system for intelligent ship navigation fault condition response is characterized by comprising a virtual test software system, a sensor combination, a comprehensive control execution system, a propeller control module, a rudder machine control module, a power supply, a second bus, a power supply line, a signal line and a master control platform;
the virtual test software system, the sensor combination, the comprehensive control execution system, the propeller control module and the steering engine control module are connected to the second bus; the power supply line is connected with the power supply, the sensor combination, the master control console, the comprehensive control execution system, the propeller control module and the steering engine control module; the sensor combination is connected to the comprehensive execution system through the signal line; the comprehensive execution system is respectively connected to the propeller control module and the virtual test software system through signal lines; the propeller control module is connected into the rudder control module through a signal line;
the sensor combination, the comprehensive control execution system, the propeller control module, the rudder machine control module and the power supply are respectively provided with at least one virtual fault mode; the virtual test software system is used for acquiring a fault injection strategy and controlling the sensor combination, the comprehensive control execution system, the propeller control module, the steering engine control module or the power supply to enter the corresponding virtual fault mode according to the fault injection strategy.
2. The virtual test system for intelligent navigation fault condition response of the ship according to claim 1, further comprising:
the external input equipment is used for artificially setting the virtual fault mode;
the comprehensive test diagnosis system is used for acquiring the virtual fault mode and detecting the position and the reason of the fault;
the virtual test console is used for executing the control instruction;
and the first bus is used for connecting the virtual test software system and the virtual test console.
3. The virtual test system for intelligent sailing fault condition response of the ship according to claim 2, wherein the virtual fault modes of the power supply include a first virtual fault, a second virtual fault, a third virtual fault and a fourth virtual fault;
the first virtual fault is a power supply fault of the sensor combination module; the second virtual fault is a power supply fault of the integrated control execution system; the third virtual fault is a power supply fault of the propeller control module; the fourth virtual fault is a power supply fault of the steering engine control module;
the fault injection strategy corresponding to the first virtual fault is to disconnect a single sensor power supply line; the fault injection strategy corresponding to the second virtual fault is to disconnect a power supply line of the integrated control execution system; the fault injection strategy corresponding to the third virtual fault is to disconnect a propeller control module power supply line; and the fault injection strategy corresponding to the fourth virtual fault is to disconnect a power supply line of the steering engine control module.
4. The virtual test system for intelligent sailing fault condition response of the ship according to claim 2, wherein the virtual fault mode of the second bus comprises a fifth virtual fault and a sixth virtual fault;
the fifth virtual fault is a bus communication fault of the comprehensive control execution system; the sixth virtual fault is a virtual detection software system bus communication fault;
the fault injection strategy corresponding to the fifth virtual fault is to disconnect a bus interface of the comprehensive control execution system; and the fault injection strategy corresponding to the sixth virtual fault is to disconnect a virtual test software system bus interface.
5. The virtual test system for intelligent marine vessel sailing fault condition response according to claim 2, wherein the virtual fault modes of the sensor combination include a seventh virtual fault, an eighth virtual fault, a ninth virtual fault, a tenth virtual fault, an eleventh virtual fault, and a twelfth virtual fault;
the seventh virtual fault is a differential GPS no-signal; the eighth virtual fault is no data output of the millimeter wave radar; the ninth virtual fault is laser radar non-image display; the tenth virtual fault is that the rotating speed of the propeller is 0; the eleventh virtual fault is an electrical compass numerical anomaly; the twelfth virtual fault is that the numerical value of the rudder angle sensor is abnormal;
the fault injection strategy corresponding to the seventh virtual fault is to disconnect a differential GPS signal line; the fault injection strategy corresponding to the eighth virtual fault is to disconnect a millimeter wave radar signal line; the fault injection strategy corresponding to the ninth virtual fault is to disconnect a laser radar signal line; the fault injection strategy corresponding to the tenth virtual fault is to disconnect a propeller power supply line; the fault injection strategy corresponding to the eleventh virtual fault is to disconnect a power compass signal line; and the fault injection strategy corresponding to the twelfth virtual fault is to disconnect a signal line of the rudder angle sensor.
6. The virtual test system for intelligent navigation fault condition response of the ship according to claim 2, wherein the virtual fault modes of the integrated control execution system comprise a thirteenth virtual fault and a fourteenth virtual fault;
the thirteenth virtual fault is a propeller control failure; the fourteenth virtual fault is failure of steering engine control;
the fault injection strategy corresponding to the thirteenth virtual fault is to disconnect a propeller signal input interface; and the fault injection strategy corresponding to the fourteenth virtual fault is to disconnect a signal input interface of the steering engine.
7. The virtual test system for intelligent navigation fault condition response of the ship according to claim 2, wherein the virtual fault modes of the propeller control module comprise a fifteenth virtual fault, a sixteenth virtual fault and a seventeenth virtual fault;
the fifteenth virtual fault is propeller jamming; the sixteenth virtual fault is that a propeller signal cannot be input; the seventeenth virtual fault is an open circuit of a stator coil of the motor;
the fault injection strategy corresponding to the fifteenth virtual fault is to disconnect a propeller motor power supply line; the fault injection strategy corresponding to the sixteenth virtual fault is to disconnect a propeller control signal line; the fault injection strategy corresponding to the seventeenth virtual fault is to turn off a stator coil of the motor.
8. The virtual test system for intelligent navigation fault condition response of the ship according to claim 2, wherein the virtual fault modes of the steering engine control module comprise an eighteenth virtual fault, a nineteenth virtual fault and a twentieth virtual fault;
the eighteenth virtual fault is that the steering engine is locked; the nineteenth virtual fault is that a rudder angle signal cannot be input; the twentieth virtual fault is an encoder output abnormality or no output;
the fault injection strategy corresponding to the eighteenth virtual fault is to disconnect a power supply line of the steering engine; the fault injection strategy corresponding to the nineteenth virtual fault is to disconnect a steering engine control signal line; the fault injection strategy corresponding to the twentieth virtual fault is a connection failure encoder.
9. The virtual test system for intelligent navigation fault condition response of the ship according to claim 2, wherein the virtual test software system and the logic algorithm for fault injection test of intelligent navigation of the ship are implemented in a digital twin space, and the effective response rates of the intelligent navigation system of the ship in different virtual fault modes are calculated through virtual test and measured data.
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| CN111354238A (en) * | 2020-03-17 | 2020-06-30 | 云南师范大学 | Unmanned ship fault simulation system |
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