上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (02): 217-222.

• 自动化技术、计算机技术 • 上一篇    下一篇

基于Vxworks的DP3动力定位
控制系统设计与分析  

王芳，万磊，姜大鹏，徐玉如   

  1. (哈尔滨工程大学 水下智能机器人国防科技重点实验室, 哈尔滨 150001）
  • 收稿日期:2011-03-07 出版日期:2012-02-28 发布日期:2012-02-28
  • 基金资助:

    国家高技术研究发展计划（863）项目（2008AA092301）

Design and Analysis of DP-3 Dynamic Positioning Control System Based on Vxworks

 WANG  Fang, WAN  Lei, JIANG  Da-Peng, XU  Yu-Ru   

  1. (State Key Laboratory of Autonomous Underwater Vehicles, Harbin Engineering University, Harbin 150001, China)
  • Received:2011-03-07 Online:2012-02-28 Published:2012-02-28

摘要： 为了满足深海油气资源开发对动力定位系统可靠性的需求,根据船级社对附加标志为DP3动力定位系统的规范要求,在Vxworks实时操作系统下设计了三模冗余的动力定位控制系统.基于PC104总线设计了冗余动力定位控制系统的硬件体系结构. 采用软件实现了三模冗余实时控制计算机组的控制解算与容错管理.应用马尔可夫过程对所设计的DP3级动力定位控制系统进行了可靠性分析,预测了不同的硬件故障参数对DP3动力定位控制系统可靠性的影响.分析结果表明,所设计的DP3动力定位控制系统具有较高的可靠性.  

关键词: 动力定位, 体系结构, 容错, 系统可靠性

Abstract: To satisfy the increasing demands on the reliability of dynamic positioning system for deepwater oil and gas exploration, a threeredundant dynamic positioning control system was established based on the realtime operating system Vxworks according to the classification specification of class notation DP3 for dynamic positioning system. Hardware architecture of the tripleredundancy control system was designed based on the
PC104 bus. Control calculation and faulttolerant management of threeredundant realtime control computers were implemented by software. The reliability of control system was analyzed by using Markov process, and the effects of various hardware fault parameters on the reliability measures were investigated. The analysis results show that the reliability of DP3 dynamic positioning control system can be greatly improved.  

Key words: dynamic positioning (DP), control architecture, fault tolerance, system reliability

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