ARM+DSP嵌入式仿真系统的开发及其在船舶电力推进中的初步应用
摘要
本文课题是上海市科委发展基金项目“多模式船舶综合电力系统和电力推进系统的仿真”(项目编号：021107013)中船舶电力推进系统仿真的重要部分，它以吊舱式船舶为母型，在双三相吊舱式电力推进半实物仿真系统的基础上开发新型的基于ARM+DSP的嵌入式船舶推进系统仿真平台。
开发这个新型的仿真平台，主要是为了仿真电力推进系统的核心部分——螺旋桨特性子系统。而螺旋桨特性子系统主要是为推进电机提供一个实时的动态负载特性——船机桨动态特性，该动态特性是由负载电机实施的，负载电机的控制单元由船桨数学模型、转矩调节器等组成，由于船桨数学模型的复杂性，及其对仿真实时性、逼真度的较高要求，故迫切需要能高速运算处理的新型仿真平台。
针对上述需求，开发了ARM+DSP嵌入式仿真系统，本文作者的主要工作内容包括以下几个方面：
(1) 根据吊舱式船舶电力推进仿真系统的实际需要，对ARM+DSP嵌入式仿真系统的实现方式进行可行性研究，特别是对双核系统的组成方式，双核之间的通信机制，该仿真平台的优越性做了大量的工作，阅读了大量的英文文献。
(2) 确定以TI公司的TMS320VC5470芯片为核心，构建仿真平台。根据VC5470芯片的特点，对仿真平台的硬件原理进行设计，扩充了进行仿真研究所需的片外RAM、ROM(Flash)，人机接口电路，外围接口电路，仿真接口JTAG及通信接口等。
(3) 选择硬件原理实现所需的各种元器件，设计8层印刷电路板，对BGA封装形式芯片的扇出方式，布线规则以及高速数字电路与高速PCB设计中涉及的信号完整性问题予以重点研究，较好解决了高密度BGA封装集成电路的布线及其电磁兼容性问题。
(4) 对硬件系统做了调试工作，实现了对双核的同步仿真，并在DSP侧仿真软件的设计与实现上做了初步工作，实现了二阶系统的在线仿真。在嵌入式操作系统的移植上作了可行性探索。
本文第一章介绍了该项目的背景；第二章简要说明了电力推进船桨模型仿真子系统、控制方案以及仿真系统的构想；第三章分析了ARM与DSP的结构特点，并作了比较，详细讲述了选用TMS320VC5470芯片的理由；第四章主要介绍了ARM+DSP嵌入式仿真系统硬件原理设计；第五章阐述了硬件系统的实现，着重介绍了多层电路板的设计，高速PCB的信号完整性分析方法；第六章介绍了双核之间的通讯方式，以及在DSP侧仿真软件的设计与实现；最后，第七章是对整个工作的总结，提出了
一些在调试中的个人体会，以及对本课题持续开发的展望。
使用带有ARM子系统和OSP子系统的双核芯片构建仿真平台，对推进电机的负
载—船机桨动态特性进行实时仿真，并在整个仿真系统的构成上做到交流电机扭
矩闭环控制是本论文的一个创新点;另外把主要用于语音、无线数据实时处理系统
上的ARM+DSP的结构组合用于船舶推进及其他仿真领域，有效解决了仿真精度与仿
真实时性之间的矛盾，这在仿真领域中是种新的创意。
ARM+DSP嵌入式船舶推进系统仿真平台的开发对船舶推进系统仿真提供了一
种新的模式。该硬件平台摒弃了原来以工控机和PCL数据采集卡进行仿真的方式，
摆脱了由于非实时操作系统(如WindowS)带来的实时性差，仿真速度慢等缺点。
并对在开发的过程中所涉及的高速数字电路噪声控制技术问题予以了研究。探索了
船舶电力推进这类复杂系统实时仿真的关键技术，为今后这方面的研究迈出了具有
基础性和开拓性的一步。
This paper gives a description of researches done in the important part of the Simulation of Multi Mode Marine Integrated Power System and Electric Propulsion System, which is supported by the Shanghai Science and Technology Development Fund. In the project, POD ship is adopted as a simulated object, and ARM+DSP embedded marine propulsion simulation platform is developed on the basis of dual three phase POD electric propulsion simulation system of "Hardware in Loop".
This new type of simulation platform is developed mainly for the central part of the electric propulsion simulation system -propeller characterized subsystem. This subsystem aims at providing a real-time dynamic load(vessel-engine-propeller) characteristics for propulsion motor. This dynamic characteristics is carried out by motor whose controlling unit is composed of vessel-propeller mathematic model, and torque adjustment unit, etc. Because of the complexity of vessel-propeller mathematic model as well as the higher requirements for the real-time capacity and fidelity of the simulation, it is urgent to have a new type of high speed processing simulation platform.
ARM+DSP embedded simulation system is developed to meet the above-mentioned requirements. The following is the works done by the author:
(1)To start a new feasible research on the realization mode of ARM+DSP embedded simulation system, especially on the constitution of dual subsystem, the communication between the dual subsystems and the advantages of this simulation in accordance with the practical environment of the podded propulsion simulation system. A lot of related English documents has been read by the author. (2) To construct a simulation platform with the chip TMS320VC5470
made by Tl as a nucleus; to design the hardware principle of the simulation platform and expand the extended RAM, ROM (Flash), man-machine interface, peripheral circuit, JTAG interface and communication interface with the regard to the characteristics of the chip VC5470.
(3) To choose the components demanded by the hardware principle; to design 8 layers PCB, with emphasis laid on the rules of routing and the signal integrity in high-speed digital circuit and high-speed PCB design which gives a better solution to the high density routing of BGA package and it's EMI problem.
(4) To realize the simultaneous simulation of the two subsystems after a series of debugging, and two phase system online simulation based on the preliminary work of designing and realization of simulation software in DSP subsystem; to explore the feasibility of the transplanting of embedded OS.
Chapter 1 gives a brief introduction to the background of t his project; Chapter 2 explains electric propulsion vessel-engin e-propeller model simulation subsystem, control plan and conce ption of the simulation system; In chapter 3, the structural cha racteristics of ARM and DSP is compared and analyzed, and th e reason for the choice of VC5470 chip is given in detail; Chap ter 4 introduces the hardware designing principle of ARM+DSP embedded simulation system. The realization of the hardware s ystem is illustrated in chapter 5, with emphasis being laid on t he designing of multi-layer PCB and high-speed PCB signal int egrity method. Chapter 6 describes the communication mode be tween the two subsystems, as well as the designing and realiz ation of the software in DSP subsystem. The final chapter is a summary of the whole work, at the same time, the author's per sonal experience is given and prospect of this project is sugge sted.
One of the innovations in this thesis is to construct a sim ulation platform with the use of two nucleus of ARM subsyste
m and DSP subsystem in order to carry out real-time simulatio n experiment on the load of propulsion motor (vessel-engine-pr opeller dynamic characteristics) and achieve the asynchronous motor torque control in the constitution of the whole system. I n addition, it is innovative to apply the configuration of ARM+D SP which is mainly used in speech and wireless data processin g
开发这个新型的仿真平台，主要是为了仿真电力推进系统的核心部分——螺旋桨特性子系统。而螺旋桨特性子系统主要是为推进电机提供一个实时的动态负载特性——船机桨动态特性，该动态特性是由负载电机实施的，负载电机的控制单元由船桨数学模型、转矩调节器等组成，由于船桨数学模型的复杂性，及其对仿真实时性、逼真度的较高要求，故迫切需要能高速运算处理的新型仿真平台。
针对上述需求，开发了ARM+DSP嵌入式仿真系统，本文作者的主要工作内容包括以下几个方面：
(1) 根据吊舱式船舶电力推进仿真系统的实际需要，对ARM+DSP嵌入式仿真系统的实现方式进行可行性研究，特别是对双核系统的组成方式，双核之间的通信机制，该仿真平台的优越性做了大量的工作，阅读了大量的英文文献。
(2) 确定以TI公司的TMS320VC5470芯片为核心，构建仿真平台。根据VC5470芯片的特点，对仿真平台的硬件原理进行设计，扩充了进行仿真研究所需的片外RAM、ROM(Flash)，人机接口电路，外围接口电路，仿真接口JTAG及通信接口等。
(3) 选择硬件原理实现所需的各种元器件，设计8层印刷电路板，对BGA封装形式芯片的扇出方式，布线规则以及高速数字电路与高速PCB设计中涉及的信号完整性问题予以重点研究，较好解决了高密度BGA封装集成电路的布线及其电磁兼容性问题。
(4) 对硬件系统做了调试工作，实现了对双核的同步仿真，并在DSP侧仿真软件的设计与实现上做了初步工作，实现了二阶系统的在线仿真。在嵌入式操作系统的移植上作了可行性探索。
本文第一章介绍了该项目的背景；第二章简要说明了电力推进船桨模型仿真子系统、控制方案以及仿真系统的构想；第三章分析了ARM与DSP的结构特点，并作了比较，详细讲述了选用TMS320VC5470芯片的理由；第四章主要介绍了ARM+DSP嵌入式仿真系统硬件原理设计；第五章阐述了硬件系统的实现，着重介绍了多层电路板的设计，高速PCB的信号完整性分析方法；第六章介绍了双核之间的通讯方式，以及在DSP侧仿真软件的设计与实现；最后，第七章是对整个工作的总结，提出了
一些在调试中的个人体会，以及对本课题持续开发的展望。
使用带有ARM子系统和OSP子系统的双核芯片构建仿真平台，对推进电机的负
载—船机桨动态特性进行实时仿真，并在整个仿真系统的构成上做到交流电机扭
矩闭环控制是本论文的一个创新点;另外把主要用于语音、无线数据实时处理系统
上的ARM+DSP的结构组合用于船舶推进及其他仿真领域，有效解决了仿真精度与仿
真实时性之间的矛盾，这在仿真领域中是种新的创意。
ARM+DSP嵌入式船舶推进系统仿真平台的开发对船舶推进系统仿真提供了一
种新的模式。该硬件平台摒弃了原来以工控机和PCL数据采集卡进行仿真的方式，
摆脱了由于非实时操作系统(如WindowS)带来的实时性差，仿真速度慢等缺点。
并对在开发的过程中所涉及的高速数字电路噪声控制技术问题予以了研究。探索了
船舶电力推进这类复杂系统实时仿真的关键技术，为今后这方面的研究迈出了具有
基础性和开拓性的一步。
This paper gives a description of researches done in the important part of the Simulation of Multi Mode Marine Integrated Power System and Electric Propulsion System, which is supported by the Shanghai Science and Technology Development Fund. In the project, POD ship is adopted as a simulated object, and ARM+DSP embedded marine propulsion simulation platform is developed on the basis of dual three phase POD electric propulsion simulation system of "Hardware in Loop".
This new type of simulation platform is developed mainly for the central part of the electric propulsion simulation system -propeller characterized subsystem. This subsystem aims at providing a real-time dynamic load(vessel-engine-propeller) characteristics for propulsion motor. This dynamic characteristics is carried out by motor whose controlling unit is composed of vessel-propeller mathematic model, and torque adjustment unit, etc. Because of the complexity of vessel-propeller mathematic model as well as the higher requirements for the real-time capacity and fidelity of the simulation, it is urgent to have a new type of high speed processing simulation platform.
ARM+DSP embedded simulation system is developed to meet the above-mentioned requirements. The following is the works done by the author:
(1)To start a new feasible research on the realization mode of ARM+DSP embedded simulation system, especially on the constitution of dual subsystem, the communication between the dual subsystems and the advantages of this simulation in accordance with the practical environment of the podded propulsion simulation system. A lot of related English documents has been read by the author. (2) To construct a simulation platform with the chip TMS320VC5470
made by Tl as a nucleus; to design the hardware principle of the simulation platform and expand the extended RAM, ROM (Flash), man-machine interface, peripheral circuit, JTAG interface and communication interface with the regard to the characteristics of the chip VC5470.
(3) To choose the components demanded by the hardware principle; to design 8 layers PCB, with emphasis laid on the rules of routing and the signal integrity in high-speed digital circuit and high-speed PCB design which gives a better solution to the high density routing of BGA package and it's EMI problem.
(4) To realize the simultaneous simulation of the two subsystems after a series of debugging, and two phase system online simulation based on the preliminary work of designing and realization of simulation software in DSP subsystem; to explore the feasibility of the transplanting of embedded OS.
Chapter 1 gives a brief introduction to the background of t his project; Chapter 2 explains electric propulsion vessel-engin e-propeller model simulation subsystem, control plan and conce ption of the simulation system; In chapter 3, the structural cha racteristics of ARM and DSP is compared and analyzed, and th e reason for the choice of VC5470 chip is given in detail; Chap ter 4 introduces the hardware designing principle of ARM+DSP embedded simulation system. The realization of the hardware s ystem is illustrated in chapter 5, with emphasis being laid on t he designing of multi-layer PCB and high-speed PCB signal int egrity method. Chapter 6 describes the communication mode be tween the two subsystems, as well as the designing and realiz ation of the software in DSP subsystem. The final chapter is a summary of the whole work, at the same time, the author's per sonal experience is given and prospect of this project is sugge sted.
One of the innovations in this thesis is to construct a sim ulation platform with the use of two nucleus of ARM subsyste
m and DSP subsystem in order to carry out real-time simulatio n experiment on the load of propulsion motor (vessel-engine-pr opeller dynamic characteristics) and achieve the asynchronous motor torque control in the constitution of the whole system. I n addition, it is innovative to apply the configuration of ARM+D SP which is mainly used in speech and wireless data processin g
引文
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[4] 邓琳琳．“半实物在环”船舶主机遥控及图示仿真系统：[硕士学位论文]．上海：上海海运学院，2003
[5] 李殿璞．船舶运动与建模．哈尔滨：哈尔滨工程大学出版社，1999．255～272
[6] 翁史烈．船舶动力装置仿真技术．上海：上海交通大学出版社，1991．21
[7] 王田苗．嵌入式系统设计与实例开发—基于ARM微处理器与μC/OS-Ⅱ实时操作系统．第二版．北京：清华大学出版社，2003．3～4
[8] 周立功等．ARM微控制器基础与实战．北京：北京航空航天大学出版社，2003．399
[9] 马忠梅，马广云，徐英慧．ARM嵌入式处理器结构与应用基础．北京：北京航空航天大学出版社，2002．2～4，255～260
[10] 戴明桢，周建江．TMS320C54x DSP结构、原理及应用．北京：北京航空航天大学出版社，2001．2～3
[11] TI. SPRSO17B. TMS320VC5470 Fixed-Point Digital Signal Processor Data Manual. Texas, U.S.A.: Texas Instruments,Dec 2002
[12] 李杰仁．轮机自动化．北京：科学出版社，1996．161～264
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