摘 要
主機(jī)遙控是船舶自動(dòng)化系統(tǒng)的重要內(nèi)容之一，隨著電子技術(shù)和計(jì)算機(jī)技術(shù)的發(fā)展，主機(jī)遙控系統(tǒng)也在不斷發(fā)展更新。本文以MAN32/40船舶主機(jī)為研究對(duì)象提出了一套基于ARM的嵌入式主機(jī)遙控系統(tǒng)設(shè)計(jì)方案，詳細(xì)介紹了主機(jī)遙控系統(tǒng)的組成與相關(guān)功能，系統(tǒng)設(shè)置了駕駛室遙控、集控室遙控和機(jī)旁操縱三種操縱方式。
采用ARM7TDMI-S微控制器LPC2129為硬件核心，μC/OS-II操作系統(tǒng)為軟件平臺(tái)，完成了硬件設(shè)計(jì)和軟件設(shè)計(jì)。硬件功能包括：LPC2129最小系統(tǒng)設(shè)計(jì)；溫度、壓力、主機(jī)轉(zhuǎn)速、齒條位置等信號(hào)的采集和處理；車鐘指令、操縱方式、齒輪箱狀態(tài)等開關(guān)量信號(hào)的采集和處理；控制器的開關(guān)量和模擬量輸出電路設(shè)計(jì)；RTL8019AS以太網(wǎng)控制器接口電路的設(shè)計(jì)。
軟件設(shè)計(jì)部分：將嵌入式實(shí)時(shí)操作系統(tǒng)μC/OS-II應(yīng)用到船舶柴油主機(jī)控制中，在分析μC/OS-II系統(tǒng)的軟件特性、μC/OS-II的文件結(jié)構(gòu)和開發(fā)方法的基礎(chǔ)上，將其移植到LPC2129微控制器上。采用模塊化設(shè)計(jì)思想設(shè)計(jì)了轉(zhuǎn)速控制功能模塊、模式，指令檢測(cè)與齒輪箱控制功能模塊、以太網(wǎng)通信模塊以及人機(jī)對(duì)話功能模塊，并闡述了各模塊的主要功能以及在μC/OS-II操作系統(tǒng)下的實(shí)現(xiàn)方法，構(gòu)建了主機(jī)正車起動(dòng)、慢轉(zhuǎn)起動(dòng)、重復(fù)起動(dòng)、換向、停車和故障處理等功能的邏輯控制流程。采用TCP/IP協(xié)議棧LwIP并完成LwIP協(xié)議棧在μC/OS-II上的移植工作，實(shí)現(xiàn)了底層控制器與上位機(jī)之間的以太網(wǎng)通信功能。實(shí)驗(yàn)結(jié)果驗(yàn)證了設(shè)計(jì)的可行性，硬、軟件均能滿足主機(jī)控制功能要求。
文章最后以MATLAB/Simulink軟件為平臺(tái)，建立了模糊自整定PID控制器，與傳統(tǒng)PID控制進(jìn)行仿真比較，仿真結(jié)果顯示，模糊PID控制有著明顯的優(yōu)越性：過渡時(shí)間短，控制穩(wěn)定，控制精度高，魯棒性強(qiáng)，提高了電子調(diào)速器的調(diào)速性能。

關(guān)鍵詞 主機(jī)遙控；ARM；以太網(wǎng)；μC/OS-II；模糊PID控制








Abstract
Remote control of marine main engine is an important part of ship-automation system. With the development of electronic technology and computer technology, remote control system of main engine is evolving update constantly. A proposal of ARM-based research on MAN32/40 main engine remote control is proposed. This article introduces the composition and functions of main engine remote control system. And there are three control methods including local control, E/C room control and bridge control.
The remote control system uses LPC2129 ARM7TDMI-S microcontroller for the hardware core and μC/OS-II operating system software for platform. Hardware design includes base circuit design, signal acquisition and processing circuit design of analog and switch, signal outputs including analog and switch circuit design of the controller. Also, the author used embedded Ethernet to achieve the communication between the underlying controller and position machine as well as completed the circuit design of Ethernet controller interface with LPC2129 based on RTL8019AS.
To the software, the embedded operating system μC/OS-II is used in the control of marine main engine. After getting to grasp the embedded system μC/OS-II’s history, the software character, file organization and the method of transplanting the μC/OS-II, transplant the μC/OS-II to LPC2129 microcontroller. The structure of the software framework is introduced including speed control module; mode, instruction, gearbox control module; Ethernet communication module as well as human-computer interaction module. Also the author analyses the realization of each module under μC/OS-II operating system and the functions of main engine remote control such as startup, slow turning, commutation. This paper uses the LwIP- an open source TCP/IP protocol stack and transplants the LwIP into μC/OS-II system, which resolves the problem of Ethernet communication between the underlying controller and position machine. Experimental results demonstrate the feasibility of the design, hardware and software can meet the requirements of the main engine control system.
Finally, based on the software of MATLAB/Simulink, this article has developed a system to design and simulate the main engine electronic governor. An intelligent fuzzy self-tuning PID controller is developed. Using MATLAB/Simulink software to simulate the speed controller, and the simulation results show that Fuzzy-PID control has a better dynamic performance than traditional PID control.

Key words Main Engine Remote Control; ARM; Ethernet; μC/OS-II; Fuzzy-PID Control

目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1船舶主機(jī)遙控系統(tǒng)發(fā)展概況 1
1.2主機(jī)遙控系統(tǒng)概述 2
1.2.1主機(jī)遙控系統(tǒng)的綜述 2
1.2.2主機(jī)遙控系統(tǒng)的組成 2
1.2.3主機(jī)遙控系統(tǒng)的主要功能 4
1.2.4主機(jī)遙控系統(tǒng)的分類 5
1.3課題的研究目的與意義 6
1.4ARM嵌入式處理器 7
1.5本文主要的研究工作 8
1.6本章小結(jié) 8
第2章 主機(jī)遙控裝置總體設(shè)計(jì) 9
2.1主機(jī)遙控裝置總體設(shè)計(jì) 9
2.1.1 主機(jī)遙控裝置設(shè)計(jì)方案 9
2.1.2遙控系統(tǒng)信號(hào)采集 11
2.1.3控制系統(tǒng)的信號(hào)處理 12
2.1.4控制器信號(hào)輸出 13
2.2集成電路的抗腐蝕設(shè)計(jì) 13
2.3本章小結(jié) 13
第3章 主機(jī)遙控裝置的硬件設(shè)計(jì) 15
3.1硬件系統(tǒng)的總體設(shè)計(jì)思路 15
3.2ARM控制芯片 16
3.3最小系統(tǒng)電路的設(shè)計(jì) 17
3.4信號(hào)采集電路 20
3.4.1模擬量采集電路設(shè)計(jì) 20
3.4.2開關(guān)量采集電路設(shè)計(jì) 21
3.4.3轉(zhuǎn)速與位置反饋電路設(shè)計(jì) 22
3.5輸出電路設(shè)計(jì) 24
3.5.1開關(guān)量輸出電路設(shè)計(jì) 24
3.5.2模擬量輸..