Introducing MSS

8/9/2019 Introducing MSS

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IntroducingIntroducing

Marine System Simulator Marine System Simulator MSSMSS

Øyvind N. Smogeli and Tristan Perez,

Department of Marine Technology,Norwegian University of Science and Technology,

Otto Nielsens Vei 10, NO-7491 Trondheim, Norway


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Outline

Part I Introducing MSS

Simulator Scope

History

Software Characteristics and Organization Where to find it and Access Level

Part II Guidelines for Contributors What Makes a Block in MSS

Block Development: Color Code/Names/Units

Mask and Help Information

Additional Documentation


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MSS ScopeOur aim is to develop the best simulation environment for rapid prototyping

of models for simulation, analysis and control system design of marinesystems.

Complexity

User Expertise

Simulation

Scenario

Problem Guidance and navigation

Ship motion control

Vibration damping

Structural controlMulti-body dynamics (Marine Operations)

Power System / Management

Undergraduates (used as a teaching aid)

Master Students (used for further development)

PhD Candidates (used for further development)

Researchers (advanced development)

Process plant models (complex models)

Control plant models (simplified models)

Conventional approaches

Emerging technologies


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Brief History of MSS

The MSS software is the result of continuous development atNTNU since 1991. This has been a joint effort from severalprofessors, MSc and PhD students.

The name MSS was decided in 2004 to describe the merge of threetoolboxes:

GNC-Toolbox (Guidance Navigation and Control)--Developed by Prof. T.I.

Fossen and his students at NTNU as a teaching aid for the course guidance andcontrol, and as support for his book: Marine Control Systems.

MCSim (Marine Cybernetics Simulator) This was initiated by Prof. A.J.Sørensen and developed by Ø.N. Smogeli and MSc students at the Department

of Marine Tehcnology NTNU, as a source of common knowledge for new MScand PhD students.

DCMV-Toolbox (Dynamics and Control Of Marine Vehicles) Developed byT.Perez and Prof. Mogens Blanke at The University of Newcastle, Australia and

The Danish Technical University, Denmark.


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Platform Development

MSS is being developed in MATLAB SIMULINKusing SI units.

This contributes to

Increasing accessibility and reuse of knowledge in education,

research and industry,

Improving SW tools for research and education,

Modular design principle,

Distributed development!

Gathering new competence and solutions,

Rapid control prototyping.


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Marine System

Rigid Body Eq.

of motion

Radiation Damping

(fluid memory effects)

Restor ing Forces

Cross-flow Drag

Propulsion

ForcesMotion

Actuators

1st ord. Force RAO

2nd ord. Force RAO

Waves

1st ord. Motion RAO

Wind CoefficientsWind

Current

Control NavigationGuidance


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MSS vision

Run Time Infrastructure

FMEA User

Interfaces3D

visualization

Scenario

Management Analys is

ToolboxDP

control

Power

management

Crane

control

Model Database / Library

PropulsionSystem:

- Thruster - Rudder - Pod

- etc .

Power System:- Diesel engine

- Gas turbines

- Generators- Transformers- Converters- Switchboards- etc.

Other Models:- Crane- Ballast- Towing / cables- Trenching- Risers- Mooring

MSS

Sensor andInstrumentation:-DGPS-HPR-Gyros-MRU/VRS-Wind sensors-…

Environment data Hulls Propulsion units Power components Cranes

Ballast

control

Vessel Models:- Current, wind,

waves- RB Dynamics

- Hydrodynamics


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Software Organization

MSS is currently divided into the following components:

Main SIMULINK library (Free distribution) Marine GNC Toolbox (Ver 3.1 for Matlab R17 SP1)

Add-ins (restricted distribution) Marine Hydro (converts data from hydrodynamic programs) Marine Propulsion

Marine Visualization Toolbox—MVT (coming soon) Matlab support functions Model examples


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PART II

GUIDELINES FOR CONTRIBUTORS


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What Makes a Block in MSS

Blocks are elementary constitutive parts of MSS that are used to create othermore complex blocks or models or both.

A block serves to establish a boundary for modular modelling approach. Thisboundary is set by specifying the following attributes of the block:

Block Name

Inputs and Outputs name

Mask Information

Help Information


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Block Development: Under the Mask

Create a model; then a subsystem and mask it

Green-Input PortYellow-Normal BlockRed – Output PortGrey - Logic

Adopted colour code:


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Block and Input Output Names

The block’s name is the first indication of the task performed.

The Inputs and output labels indicate how to interconnect the block with

other existing blocks: they share the same labels.

Example: Hydrofoil

Do not include units in the port labels

Do not use the drop shadow option of format


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Block Development: Dialog WindowExample: Hydrofoil

Brief Description

Formulae (If short)

Inputs description with Units & +ve conv.Outputs description with Units +ve conv.

Parameter desc. (If short, if not in help)

Dependencies (If incorporates other blocks)Model Limitations: see Help

Copyright (C) 200X, NTNU Authors Name

Incorporate SI units in the parameterwindow but not in the block port labels!

Every block must be masked!

Constants may be set to

nominal values when thelibrary is saved


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Block Development: Help

• Further description of block functionality

• Formulae

• Inputs desc. with units and +ve conv.

• Outputs des. with units +ve conv.• Parameter description.

• Model limitations and validity range

• Dependencies (If incorporates other blocks)

• References to the literature

• Call HTM file from the mask


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Block Development: Help

This Calls the file, which can bein any directory, as long as it isincluded in the path.

Follow the naming system:Help_block_name.htm

web(['file:///' which('Help_Steady_State_Hydrofoil.htm')]);

Example:

http://../web(%5b'file:/'%20which('Help_Steady_State_Hydrofoil.htm')%5d);http://../web(%5b'file:/'%20which('Help_Steady_State_Hydrofoil.htm')%5d);


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Summary

Blocks perform defini te tasks,

Should be masked even if they are simple models,

Follow the colour code adopted,

Use SI units,Document as much as possible in the mask and the help spaces,

Additional Info can be included in a PDF file; This should be mentioned in thehelp,

Avoid using global variables (use local var. the mask workspace),

Avoid using for-loops (they slow the simulations down; they are killers),If possible limit your development to only Simulink blocks.

Follow the guidelines to help us to incorporate your work:

Description of your contributions will be described in the MSS Project website,and your name added to the list of contributors!

http://www.cesos.ntnu.no/mss/

Suggestions of better ways for implementation are most welcomed.

Introducing MSS

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