RU174606U1 - Ship traffic control system with averaged estimate of the external disturbing moment - Google Patents

Abstract

The proposed ship traffic control system with an averaged estimate of the external disturbing moment is related to the navigation area - automatic ship traffic control in a given direction (heading). The technical result of the proposed ship control system with an averaged estimate of the external disturbing moment is the cyclic (in time) formation of a (correctable) averaged estimate of the external disturbing moment acting on the vessel; the introduction of a control moment that is close in effect to the external disturbing moment, but opposite in sign; creating an imbalance in the speed of the right and left propeller shafts of the vessel to create a control moment. The technical result is achieved by the fact that the system systematic way movement of the vessel with the averaged estimate of the external disturbing torque setpoint Msoderzhit rate φ, 1., sensor rate φ, 2., steering sensor δ, 3., 4. adder, the sensor of angular velocity ω. 5., steering gear 6., to the input of the adder 4. connected: heading unit ϕ1., Heading sensor ϕ2., Rudder sensor δ, 3. and angular velocity sensor ω. 5., at the output of the adder 4. a typical “PD” law is formed for controlling the vessel’s movement in the “calm sea” (2.): Where δ is the rudder angle, ϕ is the course and the given course, ω is the angular speed of the vessel, K1, K2, K3 - constant regulation coefficients, law (2) is input to the input of the steering gear 6. In addition, it contains: module block 9., integration block 10., memory block 11., comparison block 12., inverter 13., right-hand drive propeller shaft 14., drive of the left propeller shaft 15., timer 16. and difference block 8., to the input of which the heading unit ϕ, 1. is connected to the heading sensor ϕ, at the output b eye of difference 8. a difference signal (ϕ-ϕ) is generated, which is connected: a) through module block 9. to comparison block 12., where condition (3.) or (3a.) is generated, b) through integration block 10. block memory 11. to the input of the drive of the right propeller shaft 14. and through the inverter 13. to the input of the left propeller shaft 15., and at the output of the memory unit 11. an averaged estimate of the external disturbing moment M is formed in the time interval of the system Δt in accordance with the dependence M = M - according to (6.), through memory 11. connects to the inputs of: - drive right rebnogo shaft 14 .: ΔN = + kM - drive left propeller shaft 13 through an inverter 1.5 .: ΔN = -k M.

Description

The proposed ship traffic control system with an averaged estimate of the external disturbance moment M of the _{disturbance is averaged.} relates to the field of navigation - automatic control of the vessel in a given direction (heading).

The well-known "System of automatic control of the movement of the vessel along a given trajectory" (RU No. 151140 U1, 03/20/2015). Automatic control of the vessel’s movement is based on the use of information from the receiver of the satellite navigation system, the current heading ϕ, the angular velocity sensor ω, and the heading _unit ϕ _rear. , rudder sensor δ and adder, in which, according to the signals: current heading, set heading, angular speed of the vessel and rudder angle, the “PD” law is formed for automatic control of the ship’s steering gear, which provides the vessel with a heading angle ϕ equal to a given value ϕ _bldg. . In the presence of external disturbances, the quality of control of such a system deteriorates significantly. The disadvantage of this system is the lack of a signal in the control law that is tunable when the nature of external disturbances changes.

Also known is a system for automatic control of a ship’s movement (RU 2499727 C2, November 27, 2013, adopted as a prototype), in which automatic control of a ship’s movement is carried out (similar to that described above) using: a driver of the control law (adder-regulator), steering gear, block development of angular velocity, rudder sensor, satellite navigation receiver, blocks of the current and given direction angle (or course angle).

The system uses two control laws:

- the main one in the “calm sea”;

- The “facilitated” law of control under the “agitated sea”.

The restructuring of control laws to a “lightweight” law or to the main one from a “lightweight” one is performed cyclically through a time interval Δt if

- the module from the average value of the deviation of the steering wheel and the module of the average value of the angle of heel will go from the range of acceptable values of deviations of the average value of the angle of the steering wheel or the angle of the heel to the region of invalid values;

- or vice versa, from the range of invalid values of the mean value of the rudder or the angle of heel to the range of acceptable values.

Both control laws have constant control coefficients.

The system of automatic control of the vessel’s movement (RU 2499727 C2) with calm sea and calm ensures accurate movement in a given direction, when there is unrest at sea, the “facilitated” law of control of the vessel’s movement with constant regulation coefficients does not take into account a wide range of changes in the nature of sea waves and creates unfavorable operating conditions. Thus, the application of the optimal (close to optimal only for the calm sea) control law is good, but the application of the “lightened” control law with constant regulation coefficients is not effective enough and with a wide change in the nature of sea waves this leads to:

- to unacceptable overloads of the steering gear;

- to the loss of accuracy of the motion control of the vessel;

- to a significant decrease in the reliability and resource of the control system.

The technical result of the proposed ship control system with an averaged estimate of the external disturbing moment is:

- cyclical (in time) formation of a (correctable) averaged estimate of the external disturbing moment acting on the vessel;

- the introduction of a control moment that is close in effect to an external disturbing moment, but is opposite in sign to the effect;

- creating an imbalance of speed of the right and left propeller shafts of the vessel to create a control moment.

The technical result is achieved in that the ship’s motion control system with an averaged estimate of the external disturbance moment M of the _{disturbance is averaged.} contains the heading _unit ϕ _health. , 1., heading sensor ϕ, 2., rudder sensor δ, 3., adder 4., angular velocity sensor ω. 5., steering gear 6., to the input of the adder 4. connected: heading unit ϕ _rear 1., heading sensor ϕ 2., steering wheel sensor δ, 3. and angular velocity sensor ω. 5., at the output of the adder 4. a typical “PD” law is formed to control the movement of the vessel in the “calm sea” (2.):

where δ is the rudder angle,

, ϕ_зд. - курс и заданный курс,

, ϕ _bldg. - course and preset course,

ω is the angular velocity of the vessel,

K1, K2, K3 - constant regulation coefficients,

law (2) is introduced to the input of the steering gear 6. In addition, it contains:

module unit 9., integration unit 10., memory unit 11., comparison unit 12., inverter 13., drive of the right propeller shaft 14., drive of the left propeller shaft 15., timer 16. and the difference unit 8., to the input of which connected setpoint rate φ _bldg. , 1., the heading sensor ϕ, at the output of the difference block 8. a difference signal (ϕ-ϕ _building ) is formed, which is connected:

a) through the module unit 9. to the comparison unit 12 ,. where condition (3.) or (3a.) is formed,

b) through the integration unit 10. memory unit 11. to the input of the drive of the right propeller shaft 14. and through the inverter 13. to the input of the left propeller shaft 15., at the same time, an average estimate of the external disturbing moment M of the _{disturbance is generated} at the output of the memory unit 11 _. on the time interval of the functioning of the system Δt ₀ in accordance with the dependence (5.), M _control = M _{perturbation averag.} - according to (6.) through the memory block 11. connected to the inputs:

- drive of the right propeller shaft 14 .: ΔN _rights = + kM _control ,

- drive the left propeller shaft 1.5 through the inverter 13 .: ΔN _lion. = - kM _councils. .

The technical result is achieved by the fact that the ship’s motion control system with an averaged estimate of the external disturbing moment M of the _disturbance cyclically in time with a mismatch signal at the heading exceeding the permissible value:

- restores the average estimate of the magnitude of the external disturbing moment M of the _{disturbance averaged.} acting on the vessel in the time interval Δt ₀ with storing M _{perturbations averaged} ,

- introduces the control moment M control in the next time interval Δt ₁ into the control law of the drives of the ship's right and left propeller shafts _. = -km _{perturbation averag} (in the form of an imbalance in the rotation speed of the right and left propeller shafts):

where N is _right. , N _lion. - the rotation speed of the right and left propeller shafts.

The ship motion control system with an averaged estimate of the external disturbing moment M of the _{disturbance is averaged.}

The system contains: heading _unit ϕ _rear , 1., heading sensor ϕ, 2., rudder sensor δ, 3., adder 4., angular velocity sensor ω. 5., steering gear 6., vessel - control object 7., difference block 8., module block 9., integration block 10., memory block 11., comparison block 12., inverter 13., drive of the right propeller shaft 14. , drive of the left propeller shaft 15., timer 16. - see graphic image.

To the input of the adder 4. connected: heading _unit ϕ _rear 1 .; heading sensor ϕ 2., steering wheel sensor δ. 3. and angular velocity sensor ω. 5., at the output of the adder 4. a typical “PD” law is formed for controlling the vessel’s movement in the “calm sea” (2.), which is input to the input of the steering gear 6.

where δ is the rudder angle,

, ϕ_зд. - курс и заданный курс,

, ϕ _bldg. - course and preset course,

ω is the angular velocity of the vessel,

K1, K2, K3 - constant regulation coefficients.

The averaged estimate of the external disturbance moment M of the _{disturbance is averaged.}

When the sea is moving, an external disturbing moment M of _disturbance appears, which during the process of sailing changes significantly and leads to significant deviations of the vessel from a given direction of movement. (The determination of the magnitude of the evaluation of the external disturbing moment is carried out only if the condition: (3.) is satisfied.

Δϕ _perm. - a fixed value (features of the formation of condition (3.). are discussed below).

To obtain an estimate of the external disturbing moment M of _disturbance in the block of difference 8. a difference (ϕ-ϕ _building ) is formed, the value of which is proportional to the current estimate of the external disturbing moment:

To reduce the load on the steering gear, use an average estimate of the external disturbing torque M of the _{disturbance averaged.} on the time interval of the functioning of the system Δt ₀ .

If dependence (3.) is satisfied, then this characterizes that the value of the averaged estimate of the external disturbing moment M of the _{disturbance is averaged} (it is necessary to restore and use the vessel’s motion control system in the "excited sea" mode).

The averaged estimate of the external disturbance moment M of the _{disturbance is averaged.} It is realized by creating a discreet rotation speed of the left and right propeller shafts in accordance with the dependence (1).

The restoration of the value of the averaged estimate of the external disturbing moment M of the _{disturbance is averaged.}

The difference signal (ϕ-ϕ _bldg ) from the output of the difference block (ϕ-ϕ _bldg ) 8. enters through the block of module 9. into the comparison block 12., where condition (3.) is formed. or (3a.) .:

If condition (3.) is formed, the output of the difference unit 8. is connected to the input of the integration unit 10. After a time interval Δt _0, the _disturbance signal M is _averaged. from the output of the integration unit 10. (in accordance with the dependence (5.).) through the memory unit 11. connects to the input of the drive of the right propeller shaft 14., as well as through an inverter 13. to the input of the drive of the left propeller shaft 15. control law M _uprpv. creating an imbalance of speed of the right and left propeller shafts (1.). After the next time interval Δt ₁ and the operation of the control system, timer 16. connects the difference signal (ϕ-ϕ _bldg ) from the output of the difference block (ϕ-ϕ _bldg ) 8. through the block of module 9 to the comparison block 12. where condition (3 ) or (3a).

but). If condition (3) is satisfied, then this characterizes that the value of the estimate of the external disturbing moment M of the _{disturbance is averaged.} exceeds the allowable value Δφ _admits (signal M therefore be _controlled. according to the relation (6) from the memory unit 11) to enter the right input to the propeller drive shaft and via an inverter 13. The input to the left of the propeller shaft, rotational speed of the imbalance of propeller shafts ΔN in accordance with the dependence (1) will be:

Signal M _control = -km _{perturbation averag} is formed in the integration unit 10. according to the dependence (5.) during the time interval Δt ₀ . After a time interval Δt ₀ . signal M _control through the memory unit 11. enters the drive input of the right propeller shaft and through the inverter 13. and the drive input of the left propeller shaft. The imbalance in the speed of rotation of the propeller shafts ΔN creates an additional control moment equal to (but opposite in sign) the average disturbing moment

M _control = ^_ kM _{disturbance averaged.} ,

thus compensating for the averaged external disturbance, after a time interval Δt ₁ in the comparison unit 12. condition (3) or (3a) is formed.

b) If condition (3a) is satisfied, then this characterizes that the value of the (uncompensated) estimate of the external disturbing moment M of the _{disturbance is averaged.} small and does not exceed the permissible value Δϕ tolerance _. , therefore, M _controls not rebuild in the subsequent time interval Δt ₂ .

After a time interval Δt ₂ in the system again in the unit of comparison 12. the condition (3.) or (3a.) Is formed.

The operation of the ship’s motion control system (CMS) with an averaged estimate of the external disturbing moment M of the _{disturbance averaged.} .

The ship’s SAS provides the specified direction of the ship’s course heading using steering gear 6. as the main executive means (with an adder-regulator 4., to the input of which are connected: heading unit ϕ _building. , 1., heading sensor ϕ., 2., rudder sensor δ. 3., angular velocity sensor ω. 5. At the output of controller 4., a control law (2.) is generated, which is fed to the input of steering gear 6. and provides precise automatic control of the vessel in a given direction in a “calm sea” .

To increase the accuracy of stabilization of the vessel in a given direction of movement cyclically in time (when strong external disturbances M _{perturbations} appear), the average estimate of the external perturbation M _{perturbations is} restored _{. averaged} in the time interval Δt ₀ , after which an additional control moment is formed in proportion to the external disturbing moment, in the form of an imbalance in the revolutions of the propeller shafts N _rights. and N _left. (M _control = -k _m M _{disturbances. Averaged} ), which then functions for the time interval .Δt ₃ . After a time interval Δt ₃ in the comparison unit 12. condition (3.) or (3a.) Is again formed.

9., выход которого подключен к блоку сравнения, 12. при этом в блоке сравнения 12. формируется условие (3.). или (3а.).:Consider the operation of the ship's VESS in the navigation process from the current time t = = T ₀ = 0. (time point T ₀ = 0) in the block of difference 8., to the input of which the heading unit ϕ is connected _. 1. and the heading sensor -ϕ, 2., a difference signal (ϕ-ϕ _bldg., ) _Is generated, which from the output of the difference block 8. is fed to the input of the module block

9., the output of which is connected to the comparison unit, 12. at the same time, the condition (3.) is formed in the comparison unit 12. or (3a.) .:

9., выход которого подключен к блоку сравнения 12. В блоке сравнения 12. в момент времени Т₃ формируется условие (3.). или (3а.).If condition (3.) is formed, then the current automatic control of the vessel’s movement continues from time moment T ₀ to time moment T _1. = T ₀ + Δt ₀ . At time T _1. at the command of timer 16. in the block of difference 8. a difference signal (ϕ-ϕ _rear ) is generated, which from the output of the block of difference 8. is fed to the input of integration unit 10. after a time interval Δt ₁ at time T _2. = T _1. + Δt _{1. the} output of the integration unit 10. is connected through the memory unit 11. to the input of the drive of the right propeller shaft 14. and through the inverter 13. to the input of the drive of the left propeller shaft 15. After a time interval Δt ₂ at the time T _3. = T _2. + Δt _2. in the difference block 8. a difference signal (ϕ-ϕ _building ) is formed, which from the output of the difference block 8. is received em to the input of the module block

9., the output of which is connected to the comparison unit 12. In the comparison unit 12. at time T ₃ , condition (3.) is formed. or (3a.).

If condition (3.) is formed, then the difference signal (ϕ-ϕ _z.d. ) from the output of the difference block 8.

will be received at the input of integration unit 10., where after a time interval Δt ₀ at a time point T ₄ = T ₃ + Δt _{0 an} averaged signal for evaluating an external disturbance is generated in a time interval Δt ₀ = T ₄ -T ₃ :

At time T _{4., the} signal from the output of the integration unit 10. through the memory unit 11. enters the input of the drive of the right propeller shaft 14 and through the inverter 13. to the input of the drive of the left propeller shaft 15. this creates a control (compensating) moment equal to averaged moment from external disturbance .:

- management of the right propeller shaft N _bldg. + ΔN _ave. ,

- control of the left propeller shaft N _bldg. -ΔN _lion.

9., выход которого подключен к блоку сравнения 12. В блоке сравнения 12. в момент времени T_5. формируется условие (3.). или (3а.).At time T ₅ (by operation of a time interval Δt system _5. T ₁ = T ₄₎ form a timer 16. The difference block 8. The difference signal (φ-φ _zd.), Which is output from the difference block is supplied 8. to the input of the module block

9., the output of which is connected to the comparison unit 12. In the comparison unit 12. at time T _5. the condition (3.) is formed. or (3a.).

9., выход которого подключен к блоку сравнения 12. В блоке сравнения 12. в момент времени Т_6. формируется условие (3.). или (3а.).If condition (3a.) Is formed., Then the automatic control of the vessel’s movement continues during the time interval Δt ₂ from the moment of time T _5. to the moment of time T _6. = T _5. + Δt ₂ .. At time T _6. at the command of timer 16. in the block of difference 8. a signal of difference (ϕ-ϕ _building ) is generated, which from the output of the block of difference 8. is fed to the input of the block of the module

9., the output of which is connected to the comparison unit 12. In the comparison unit 12. at time T _6. condition (3.) is formed. or (3a.).

Claims (18)

The ship’s motion control system with an averaged estimate of the external disturbance moment M of the _{disturbance is averaged .} , 1., heading sensor ϕ, 2., rudder sensor δ, 3., adder 4., angular velocity sensor ω. 5., steering gear 6., to the input of the adder 4. connected: heading _unit ϕ _rear. , 1., heading sensor ϕ, 2., rudder sensor δ, 3. and angular velocity sensor ω. 5., at the output of the adder 4. a typical “PD” law is formed to control the movement of the vessel in the “calm sea” (2.):

, where δ is the rudder angle,

, ϕ _bldg. - course and preset course, ω is the angular velocity of the vessel, K1, K2, K3 - constant regulation coefficients, law (2) is introduced to the input of the steering drive 6., characterized in that it contains a module unit 9., an integration unit 10., a memory unit 11., a comparison unit 12., an inverter 13., the drive of the right propeller shaft 14., the drive of the left the propeller shaft 75. The timer unit 16 and 8. The difference, which is connected to the input dial rate φ _zd. , 1., the heading sensor ϕ, at the output of the difference block 8. a difference signal (ϕ-ϕ _building ) is formed, which is connected: a) through the module block 9. to the comparison block 12., where the condition is formed

Δϕ _perm. - fixed value, or

, b) through the integration unit 10. and the memory unit 11. to the input of the drive of the right propeller shaft 14. and through the inverter 13. to the input of the left propeller shaft 15., at the same time, an average estimate of the external disturbing moment M of the _{disturbance is generated} at the output of the memory unit 11. on the time interval of the system Δt ₀ in accordance with the dependence

, M _control = M _{perturbation averag.} - according to

- through the memory block 11. connected to the inputs: - drive the right propeller shaft 14 .: ΔN _rights. = + kM _control , - drive the left propeller shaft 1.5 through the inverter 13 .: ΔN _lion. = - kM _councils. .

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