Marine cybernetic teaching laboratory

This learning resource provides hands-on experience of control development and verification.

• Software environments:
  • MathWorks Simulink,
  • National Instruments VeriStand
• Hardware:
  • National Instruments CompactRIO
  • National Instruments myRIO
  • NTNU Cybership Enterprise 1

Download the Handbook of Marine HIL simulation and Marine cybernetics laboratories.

Development step	Digital resources
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 Current Previous   CSE1_param.m Current Previous   CSS_param.m Current Previous
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 Current Previous   CSE1_HIL_u.out Current Previous   CSS_HIL_tau.out Current Previous   CSS_HIL_u.out Current Previous
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 Current Previous   CSS.zip Current Previous

TMR4243 Marine control systems 2 cases

1. Pendulum
   • Review of simple mathematical modeling and control design through a basic example
   • Introduction to the teaching laboratory software and hardware
   • Report requirements and guidance
2. Internal dynamics
   • Marine vessel model
3. Parameter estimation
   • Marine vessel model
4. Maneuvering