Method and system for testing a control system of a marine vessel
First Claim
Patent Images
1. A method for verifying a control system (2) of a vessel (4), in which said control system (2) in its operative state is arranged for receiving sensor signals (7) from sensors (8) and command signals (9) from one or more command input devices (10), and in which said control system (2) as a response to said measurements (7) and command signals (9), provides control signals (13) to said vessel'"'"'s actuators (3) in order to maintain a desired position, velocity, course or other state variable of said vessel (4);
- said method characterized by the following steps;
during a first time (t0), disconnecting the reception of one or more real sensor signals (7a, 7b, 7c, . . . ) to said control system (2) and replacing said one or more of said real sensor signals by a first test sequence (T0) comprising one or more artificial measurements (7a′
, 7b′
, 7c′
, . . . ) from a test signal source (41) to said control system (2);
letting said control system (2) work based on said real and/or artificial sensor signals (7, 7′
) to generate control signals (13′
) to be recorded as said control system'"'"'s (2) control signals (13) as a response (S0) to said first test sequence (To) for said first time (t0) on a control signal logger (42);
storing said control system'"'"'s (2) response (S0) to said first test sequence (T0) at said first time (t0) as said control system'"'"'s (2) “
signature”
response (S0);
said method having the purpose of, at a later time (t1, t2, t3, . . . ), using the same given test sequence (T0) input to said control system (2), and recording a later response (S1, S2, S3, . . . ) from said control system (2), and determining whether said later response (S1, S2, S3, . . . ) is generally similar to said signature response (S0) to verify that said control system (2) is unchanged, or whether said later response (S1, S2, S3, . . . ) is significantly different from said signature response (S0) to indicate that said control system (2) has been changed.
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Abstract
A method for verifying a control system (2) of a vessel (4), in which said control system (2) in its operative state receives sensor signals (7) from sensors (8) and command signals (9) from command input devices (10), and as a response provides control signals (13) to actuators (3) in order to maintain a desired position, velocity, course or other state of said vessel (4), characterized by the following steps:
- during a time (t0), disconnecting the reception of real sensor signals (7a, 7b, 7c, . . . ) and replacing said real sensor signals by a test sequence (T0) of artificial measurements (7a′, 7b′, 7c′, . . . ) from a test signal source (41);
- letting said control system (2) work based on the artificial sensor signals (7, 7′) to generate control signals (13′) to be recorded as a response (S0) to said first test sequence (T0) for said first time (t0) on a control signal logger (42) and storing response (S0) to the test sequence (T0) as the control system'"'"'s (2) “signature” response (S0);
said method having the purpose of, at a later time (t1, t2, t3, . . . ), to use the test sequence (T0) input to the control system (2), and record a later response (S1, S2, S3, . . . ) and determining whether said later response similar to the signature response (S0) to verify that said control system (2) is unchanged, or not.
86 Citations
52 Claims
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1. A method for verifying a control system (2) of a vessel (4), in which said control system (2) in its operative state is arranged for receiving sensor signals (7) from sensors (8) and command signals (9) from one or more command input devices (10), and in which said control system (2) as a response to said measurements (7) and command signals (9), provides control signals (13) to said vessel'"'"'s actuators (3) in order to maintain a desired position, velocity, course or other state variable of said vessel (4);
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said method characterized by the following steps;
during a first time (t0), disconnecting the reception of one or more real sensor signals (7a, 7b, 7c, . . . ) to said control system (2) and replacing said one or more of said real sensor signals by a first test sequence (T0) comprising one or more artificial measurements (7a′
, 7b′
, 7c′
, . . . ) from a test signal source (41) to said control system (2);
letting said control system (2) work based on said real and/or artificial sensor signals (7, 7′
) to generate control signals (13′
) to be recorded as said control system'"'"'s (2) control signals (13) as a response (S0) to said first test sequence (To) for said first time (t0) on a control signal logger (42);
storing said control system'"'"'s (2) response (S0) to said first test sequence (T0) at said first time (t0) as said control system'"'"'s (2) “
signature”
response (S0);
said method having the purpose of, at a later time (t1, t2, t3, . . . ), using the same given test sequence (T0) input to said control system (2), and recording a later response (S1, S2, S3, . . . ) from said control system (2), and determining whether said later response (S1, S2, S3, . . . ) is generally similar to said signature response (S0) to verify that said control system (2) is unchanged, or whether said later response (S1, S2, S3, . . . ) is significantly different from said signature response (S0) to indicate that said control system (2) has been changed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
S0(un,1,un,2,un,3,un,4, . . . un,m, . . . ,un,K),in which the first subscript n indicate time instants u1, u2, . . . un . . . , uN, and the second subscript 1, 2, 3, 4, . . . m, . . . , K correspond control channel signals like (13a, 13b, 13c, . . . , 13m, . . . ,13K), and in the same way the multidimensional values of S1 at the time instant un is
S1(un,1,un,2,un,3,un,4, . . . ,un,m, . . . ,un,K). -
18. The method of claim 17, removing high frequency components of the sequences S0 and S1 by low-pass filtering S0 and S1, and denoting the filtered version of S0:
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SF0(un,1,un,2,un,3,un,4, . . . ,un,m, . . . ,un,K),and denoting the filtered version of S1;
SF1(un,1,un,2,un,3,un,4, . . . ,un,m, . . . ,un,K).
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19. The method of claim 17, calculating the difference between S0 and S1 in terms of RMS values for the difference between the unfiltered S0 and S1:
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and denoting the difference between the time series as (D0−
1)=RMS(S0, S1).
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20. The method of claim 17, calculating the difference between S0 and S1 in terms of RMS value for the difference between the filtered time series SF0 and SF1:
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and denoting the difference between the time series as (D0−
1)=RMS(S0, S1).
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21. A test method for a control system (2) in a vessel (4), where said control system (2) involves control and monitoring of said vessel (4) with control signals (13) to one or more actuators (3), where the method comprises the following sequential steps:
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acquisition in real time of sensor signals (7) to said control system (2) from one or more sensors (8) over a first sensor signal line (12) to said control system (2);
acquisition of command signals (9) to said control system (2) from a command input device (10) over a second signal line or command signal line (11) to said control system (2);
computation in a control algorithm (31) in said control system (2) on basis of one or more of said sensor signals (7) and said command signals (9), and sending of said control signals (13) over a third signal line (14) to said actuators (3) characterised by disconnection of one or more of said sensor signals (7) from one or more of said sensors (8) or of said command signals (9) from said control input devices (10), so that the selected sensor signals (7) or command signals (9) do not flow to said control system (2), and replacement of one or more of said disconnected sensor signals (7) or said command signals (9), with corresponding simulated sensor signals (7′
) or simulated command signals (9′
) that are generated in a remote test laboratory 40) with respect to said vessel (4) and are sent over a communication line (6) over one or more of said signal lines (12, 14) to said control system (2);
continuous computation in said control system (2) on basis of said real and/or said simulated sensor signals (7a or 7a′
, 7b or 7b′
, 7c or 7c′
, . . . ) or said real and/or said command signals (9a or 9a′
, 9b or 9b′
, 9c or 9c′
, . . . ) of control signals (13′
), and simulation in a first, local simulator (30L) by means of an algorithm (32) of a new dynamic state (50′
) of a vessel model (4′
) on basis of said control signals (13′
);
sending of said control signals (13′
) over said communication line (6) to said remote test laboratory (40). - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. A test system for a control system (2) in a vessel (4), where said control system (2) is arranged to control and monitor said vessel (4), comprising the following steps:
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one or more sensors (8) on board said vessel (4) to send one or more sensor signals (7) over a signal line (12) to said control system (2), command input devices (10) on board said vessel (4) arranged to send one or more of desired position, course, velocity (9) etc. over a command signal line (11) to said control system (2), an algorithm (31) in said control system (2) for the computation of control signals (13) to vessel actuators (3) on basis of said sensor signals (7), said command signals (9), for sending of said control signals (13) over a signal line (14) to said actuators (3), characterized by one or more communication lines (6) for sending of one or more simulated sensor signals (7′
) and/or simulated command signals (9′
) from a remote test laboratory (40) to said control system (2);
a simulator (30) including an algorithm (32) for the simulation of new sensor signals (7′
) of a vessel model (4′
) based on the previous state (7, 7′
) said control signals (13, 13′
), and dynamic parameters (5) for said vessel (4),where said communication line (6) is arranged to send back said new simulated sensor signals (7′
) of said vessel model (4′
) to said control system (2), for continued computation in said control system (2) on basis of the real and/or simulated values of said sensor signals (7, 7′
) or the real or simulated values of said command signals (9, 9′
), of said control signals (13) to achieve at least one of said desired position, course, velocity (9) etc. andwhere said communication line (6) is arranged for sending of the response from said control system (2) in the for of said control signals (13) as control signals (13′
) to said remote test laboratory (40). - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
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Specification
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Current AssigneeMarine Cybernetics AS (Stiftelsen Det Norske Veritas)
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Original AssigneeMarine Cybernetics AS (Stiftelsen Det Norske Veritas)
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InventorsJohansen, Tor Arne, Sorensen, Asgeir Johan, Fossen, Thor Inge, Egeland, Olav
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Application NumberUS11/012,352Publication NumberTime in Patent OfficeDaysField of SearchUS Class Current701/21CPC Class CodesB63B 71/00 Designing vessels; Predicti...G05B 23/0256 injecting test signals and ...G05D 1/0206 specially adapted to water ...
