This learning resource provides hands-on experience of control development and verification.
Download the Handbook of Marine HIL simulation and Marine cybernetics laboratories.
Development step | Digital resources |
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Control design and offline simulation | Control plant parameters |
Based on a simplified mathematical model, the control system is derived.
Correctness of the algorithms and performance of the ideal closed-loop system are verified through simulation. |
pendulum_param.m
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Hardware-in-the-loop testing | HIL models |
The controller is deployed on to the embedded controller, which again is connected to a high fidelity, real-time simulator.1 Online interaction with the simulation is done through the same user interfaces as intended for the final system.
1 Specifically for this laboratory, the high fidelity simulator runs on the embedded controller, in parallel with the control algorithm, and connection is internal. |
CSE1_HIL_tau.out
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Model scale testing | Control system project |
The embedded controller is connected to an experimental platform. Input and output signals are connected to physical actuators and sensors. |
CSE1.zip
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TMR4243 Marine control systems 2 cases