CN101607589B - Four degrees of freedom (DOF) dynamic positioning device of deep submergence rescue vehicle (DSRV) and positioning control method - Google Patents
Four degrees of freedom (DOF) dynamic positioning device of deep submergence rescue vehicle (DSRV) and positioning control method Download PDFInfo
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Abstract
The invention provides a four degrees of freedom (DOF) dynamic positioning device of a deep submergence rescue vehicle (DSRV) and a positioning control method. The device comprises three PC104 bus computers, a control box, a high-frequency short baseline positioning system, a low-frequency short baseline positioning system, a compass, six thrusters, a filter, control and thrust allocation algorithm and a digital/analog conversion board; wherein, the high-frequency short baseline positioning system and the low-frequency short baseline positioning system are connected with a data processing computer; the control box is connected with an integrated display computer; the compass and the six thrusters are connected with a real-time control computer; the filter, the control and thrust allocation algorithm and the digital/analog conversion board are loaded into the real-time control computer; the three computers are connected by an Ethernet. The dynamic positioning system can realize four DOF dynamic positioning (X direction, Y direction, Z direction and heading) of the DSRV and is convenient for the operators to monitor the entire dynamic positioning process in real time. The rescue process can be played back after the rescue work is finished, thus being convenient for the research.
Description
Technical field
The present invention relates to a kind of deep submersible rescue vehicle dynamic positioning system (DPS), specifically realize the dynamic positioning system (DPS) that deep submersible rescue vehicle docks with the submarine of receiving aid through supervision and control software.
Background technology
Along with the progress of science and technology, submarine technology has also obtained significant progress, and the performance of submarine is greatly improved.But the developing history of looking back submarine is but found, accident has taken place since submarine is invented more than 170 time, and therefore a lot of ship persons die.To the submarine accident problem, a lot of countries method that all ship person carries out lifesaving in studying wrecking submarine.Maximum method of using in the submarine rescue process is the lifesaving of deep submersible rescue vehicle counterpart.The counterpart lifesaving is a kind of relatively actv. lifesaving method; But in marine environment more complicated in some cases (like low visibility; Have sea flow disturbance etc.), rely on merely ship person's M/C realize deep submersible rescue vehicle and wrecking submarine to dock difficulty very big, in this case; It is very long that docking operation will be dragged, even can not accomplish docking mission at all.Dynamic positioning system (DPS) is installed on deep submersible rescue vehicle can be addressed the above problem by actv., docks thereby deep submersible rescue vehicle is accomplished with wrecking submarine smoothly, improves the efficient of butt joint, increases the probability that wrecking submarine ship person survives.
Find that through document retrieval U.S. Pat 10233389A1 has told about a kind of dynamic positioning system (DPS), the position that this dynamic positioning system (DPS) can keep surface vessel and bow to, and resist ambient interference, like wind and wave etc.But this dynamic positioning system (DPS) can only be applied in surface vessel, realizes the dynamic positioning of three degree of freedom, and does not have integrated display system; U.S. Pat 3857351 has been described a device that is applied to the deep submersible rescue vehicle means of delivery; This device is divided into two parts; A sonar ball is contained in the front portion, is used for guiding deep submersible rescue vehicle to appointed positions and a mechanical lock, is used for deep submersible rescue vehicle is fixed on the vehicle; The rear portion also comprises a mechanical lock, is used for fixing deep submersible rescue vehicle and vehicle; U.S. Pat 3507241 has been described the device of a folding and unfolding deep submersible rescue vehicle, and this device is installed on the catamaran, is positioned at the centre of two hulls of catamaran, utilizes this device can reclaim deep submersible rescue vehicle very easily; The article that naval vessel, the Bohai Sea Feng Su of Vocationl Technical College plum was delivered in " boats and ships " (2003 the 3rd phases) " VS468 type towing/anchor handling/supply vessel dynamic positioning/lever system "; Introduced a cover dynamic positioning system (DPS) of Norway; This system comprises power-supply system, control system, push system and sensing system etc.; But this system can only be applied to surface vessel, realizes the dynamic positioning of three degree of freedom.
Summary of the invention
The object of the present invention is to provide a kind of can being applied on the deep submersible rescue vehicle, realize the deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS) of the four-degree-of-freedom dynamic positioning of deep submersible rescue vehicle.The present invention also aims to provide a kind of control method for position based on deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS).
The objective of the invention is to realize like this:
The composition of deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS) comprises a summary display computing machine 1, a real-time control computer 12 and a data handling machine 3, totally three PC104 bus computers, a maneuver box 2; High frequency short baseline sonar 4,5, two horizontal channel propelling units 9 of low frequency short baseline sonar; 11, one compass 8 of 10, two main thrusters of two vertical channels propelling units; Filtering, control and thrust allocation algorithm 6, digital-to-analog change-over panel 7; Summary display computing machine 1, real-time control computer 12, data handling machine 3 connect into a local area network through ethernet; To realize the data exchange between the three; High frequency short baseline sonar 4 is connected with data handling machine 3 with low frequency short baseline sonar 5; Maneuver box 2 links to each other with summary display computing machine 1 through serial ports; Compass 8 links to each other with real-time control computer 12 through serial ports, and real-time control computer 12 is connected through the PC104 bus with digital-to-analog change-over panel 7, and the output of digital-to-analog change-over panel 7 links to each other with two main thrusters 11 with two horizontal channel propelling units 9, two vertical channels propelling units 10 respectively.
Summary display computing machine 1 comprises a cover dynamic positioning supervision and control software 13; Said dynamic positioning supervision and control software 13 is made up of deep submersible rescue vehicle dynamic positioning multidate information supervisor software 14, deep submersible rescue vehicle and environmental information storage playback software 15 and control command interactive software 16 3 sub-systems, and wherein deep submersible rescue vehicle dynamic positioning multidate information supervisor software 14 comprises independently view of 19 3 on positioning states view 17, thruster thrust view 18 and data message view again.
Two main thrust devices 11 are positioned at the stern of deep submersible rescue vehicle, and two horizontal channel propelling units 9 are symmetrically distributed in the bow and the stern of deep submersible rescue vehicle, and two vertical channels propelling units 10 are at the midships section of deep submersible rescue vehicle port and starboard.
Control method for position based on deep submersible rescue vehicle four-degree-of-freedom dynamic positioning device:
(1) steering command of maneuver box is delivered to the summary display computing machine, sends to real-time control computer by the summary display computing machine, and real-time control computer sends control command according to steering command.
(2) the high and low frequency short baseline sonar is gathered position and the attitude information of deep submersible rescue vehicle and is passed to data handling machine through corresponding interface, and data handling machine is handled these information and the data of handling are sent to real-time control computer through ethernet;
(3) real-time control computer receives data handling machine and passes the course information that the treated data of coming and compass send; The position and the attitude of deep submersible rescue vehicle have been confirmed; Real-time control computer sends to the summary display computing machine with the position and the attitude data of deep submersible rescue vehicle through ethernet, and the summary display computing machine is presented at corresponding information on the telltale;
(4) filtering in the real-time control computer and control algorithm receive the steering command of position, attitude information and the transmission of summary display computing machine of deep submersible rescue vehicle, go out the required control command of four-degree-of-freedom dynamic positioning according to these information calculations;
(5) real-time control computer converts control command into thrust instruction that the actual thrust device needs through the thrust assignment logic; And thrust instruction sent to the digital-to-analogue conversion plate; The digital-to-analogue conversion plate converts digital quantity into analog quantity, thus the thrust that the generation of control thruster needs;
(6) the summary display computing machine receives position, attitude information and the environmental information of the deep submersible rescue vehicle that real-time control computer sends, and shows with the mode of graphic animations, simultaneously with data storage in data bank;
(7) the summary display computing machine reads historical data from data bank, simulation playback dynamic positioning process.
Control method for position based on deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS) of the present invention can also comprise:
(1) described deep submersible rescue vehicle position, attitude information comprise: the relative position of deep submersible rescue vehicle and absolute location, course, trim, heel, the degree of depth and height etc.The sensor of measuring the above-mentioned information of deep submersible rescue vehicle is: high frequency short baseline sonar, low frequency short baseline sonar, depth transducer, the high sonar of survey and compass etc.
(2) the described equipment that converts digital signal into analog signal is the digital to analogy conversion plate of PC104 bus.
(3) the present invention comprises a sets of data Processing Algorithm, is used for the data that sensor obtains are carried out filtering and fusion etc.
(4) maneuver box be provided with the mode of operation button (comprise orientation, decide X, decide Y, depthkeeping, deepen, fixed high) with other modifier key, assign steering command, simulate orders such as playback and view switching through the summary display computing machine.
The present invention proposes a kind of four-degree-of-freedom dynamic positioning system (DPS), this dynamic positioning system (DPS) can be applied on the deep submersible rescue vehicle, realizes the four-degree-of-freedom dynamic positioning of deep submersible rescue vehicle.And the information that will monitor of supervision and control software of the present invention is organized into three independently in the middle of the view disaggregatedly, through maneuver box switch view easily, thereby checks the information that needs.In addition, the present invention in data bank, can realize the simulation playback of dynamic positioning process with the various information storage of deep submersible rescue vehicle in the dynamic positioning process, convenient research later on.
Make the summary display computing machine send steering command through the maneuver box triggering; The data that sensor records pass to real-time control computer after data handling machine is handled; Filtering in the real-time control computer, control algorithm are according to deviation adjustment self parameter and calculation control instruction; The thrust allocator changes control command the actual thrust instruction of thruster into and this instruction is sent to digiverter; Digiverter output analog quantity (certain voltage) makes thruster produce corresponding thrust, and deep submersible rescue vehicle will move towards object point under the effect of thruster, and real-time control computer sends the summary display computing machine to after with various information package simultaneously; Supervision and control software in the summary display computing machine unpacks and is shown on the view the data that receive, and stores in the data bank simultaneously.
Employing such scheme design-calculated deep submersible rescue vehicle dynamic positioning system (DPS) can realize the four-degree-of-freedom dynamic positioning of deep submersible rescue vehicle easily, and the whole deep diving lifesaving of the monitoring process that operating personal can be real-time.Lifesaving can also be simulated playback after accomplishing, the usefulness of convenient research.
Description of drawings
Fig. 1 is the constructional drawing of deep submersible rescue vehicle dynamic positioning system (DPS);
Fig. 2 is the constructional drawing of supervision and control software;
Fig. 3 is data processing structure figure;
Fig. 4 is a deep submersible rescue vehicle thruster arrangement plan.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Fig. 1 has explained the annexation between each parts of the present invention; High frequency short baseline sonar 4 is connected with data handling machine 3 with low frequency short baseline sonar 5; Maneuver box 2 links to each other with summary display computing machine 1; Compass 8 links to each other with real-time control computer 12, and filtering, control and thrust allocation algorithm 6 are loaded into real-time control computer 12, and real-time control computer 12 is connected through the PC104 bus with digital-to-analog change-over panel 7; The output of digital-to-analog change-over panel 7 respectively with two horizontal channel propelling units 9; 10, two main thrusters of two vertical channels propelling units 11 link to each other, and summary display computing machine 1, real-time control computer 12, data handling machine 3 connect into a local area network through ethernet.
Fig. 2 has explained the structural relation between each sub-systems of summary display computing machine 1 medium power location supervision and control software 13; Deep submersible rescue vehicle dynamic positioning multidate information supervisor software 14 in this software, deep submersible rescue vehicle and environmental information storage playback software 15 and control command interactive software 16 3 sub-systems are by three independently thread realizations; Such three sub-systems can executed in parallel and each other the mode through message queue communicate, improved the efficient of software executing.
Fig. 3 is the data processing structure figure of deep submersible rescue vehicle dynamic positioning system (DPS), this block diagram illustrating the processing data information relation of whole dynamic positioning system (DPS) of deep submersible rescue vehicle.Maneuver box sends various steering commands and gives main thread; Main thread is presented at steering command on the view interface, simultaneously steering command is sent to communication thread, and communication thread is packaged into data packet according to communication protocol with steering command; And data packet sent to the instruction transmission tasks in the real-time control computer; This task is responsible for receiving the correctness of steering command data packet and check data bag, replys for afterwards one of communication thread, if data packet is correct; The data transfer task passes to the controller task with resolution data bag and the steering command that will resolve, if mal then require the repeating transmission of summary display computing machine; The various information of sensor acquisition deep submersible rescue vehicle; And information sent to data handling machine; Data handling machine is packaged into data packet according to communication protocol after each road information is carried out filtering and merged; At last whole data packet is sent to real-time control computer, real-time control computer utilizes filtering, control algorithm to obtain the thrust instruction according to the information and the steering command of the deep submersible rescue vehicle that receives, and drives each thruster through this thrust instruction then and produces corresponding thrust; The monitor data Processing tasks is packaged into data packet with the thrust command information that the information and the control algorithm of deep submersible rescue vehicle obtains; Send to communication thread then; Communication thread is transmitted to main thread with data packet; Main thread in corresponding view, and sends the data to the data access thread with the data display that receives, the data access thread with deposit data in data bank; When maneuver box sends playback command, the data access thread will read data according to the cycle of setting from data bank, send the data to main thread then, and main thread shows the data that receive in the enterprising action attitude of corresponding view.
Fig. 4 has explained thruster distribution situation of the present invention, and (B C) is positioned at the stern of deep submersible rescue vehicle, can produce longitudinal thrust for two main thrust devices; (D F) is symmetrically distributed in the bow and the stern of deep submersible rescue vehicle, can produce horizontal thrust and yawing moment for two side thrusters; (A E) is distributed in the midships section of deep submersible rescue vehicle port and starboard, can produce vertical thrust for two vertical thrusters.
Claims (5)
1. deep submersible rescue vehicle four-degree-of-freedom dynamic positioning device, it comprises a summary display computing machine (1), a real-time control computer (12) and a data handling machine (3), three said computing machines are the PC104 bus computer; A maneuver box (2), high frequency short baseline sonar (4), low frequency short baseline sonar (5); Two horizontal channel propelling units (9); Two vertical channels propelling units (10), two main thrusters (11), a compass (8); Filtering, control and thrust allocation algorithm (6), digital-to-analog change-over panel (7); It is characterized in that: summary display computing machine (1), real-time control computer (12), data handling machine (3) connect into a local area network through ethernet; To realize the data exchange between the three; Filtering, control and thrust allocation algorithm (6) are loaded into said real-time control computer (12); High frequency short baseline sonar (4) is connected with data handling machine (3) with low frequency short baseline sonar (5); Maneuver box (2) links to each other with summary display computing machine (1) through serial ports; Compass (8) links to each other with real-time control computer (12) through serial ports, and real-time control computer (12) is connected through the PC104 bus with digital-to-analog change-over panel (7), and the output of digital-to-analog change-over panel (7) links to each other with two horizontal channel propelling units (9), two vertical channels propelling units (10) and two main thrusters (11) respectively.
2. deep submersible rescue vehicle four-degree-of-freedom dynamic positioning device according to claim 1; It is characterized in that: summary display computing machine (1) comprises a cover dynamic positioning supervision and control software (13); Said dynamic positioning supervision and control software (13) is made up of deep submersible rescue vehicle dynamic positioning multidate information supervisor software (14), deep submersible rescue vehicle and environmental information storage playback software (15) and control command interactive software (16) three sub-systems, and wherein deep submersible rescue vehicle dynamic positioning multidate information supervisor software (14) comprises independently view of (19) three on positioning states view (17), thruster thrust view (18) and data message view again.
3. deep submersible rescue vehicle four-degree-of-freedom dynamic positioning device according to claim 1 and 2; It is characterized in that: two main thrust devices (11) are positioned at the stern of deep submersible rescue vehicle; Two horizontal channel propelling units (9) are symmetrically distributed in the bow and the stern of deep submersible rescue vehicle, and two vertical channels propelling units (10) are at the midships section of deep submersible rescue vehicle port and starboard.
4. control method for position based on deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS) is characterized in that:
(1) steering command of maneuver box is delivered to the summary display computing machine, sends to real-time control computer by the summary display computing machine, and real-time control computer sends control command according to steering command;
(2) the high and low frequency short baseline sonar is gathered position and the attitude information of deep submersible rescue vehicle and is passed to data handling machine through corresponding interface, and data handling machine is handled these information and the data of handling are sent to real-time control computer through ethernet;
(3) real-time control computer receives data handling machine and passes the course information that the treated data of coming and compass send; The position and the attitude of deep submersible rescue vehicle have been confirmed; Real-time control computer sends to the summary display computing machine with the position and the attitude data of deep submersible rescue vehicle through ethernet, and the summary display computing machine is presented at corresponding information on the telltale;
(4) filtering in the real-time control computer and control algorithm receive the steering command of position, attitude information and the transmission of summary display computing machine of deep submersible rescue vehicle, go out the required control command of four-degree-of-freedom dynamic positioning according to these information calculations;
(5) real-time control computer converts control command into thrust instruction that the actual thrust device needs through the thrust assignment logic; And thrust instruction sent to the digital-to-analogue conversion plate; The digital-to-analogue conversion plate converts digital quantity into analog quantity, thus the thrust that the generation of control thruster needs;
(6) the summary display computing machine receives position, attitude information and the environmental information of the deep submersible rescue vehicle that real-time control computer sends, and shows with the mode of graphic animations, simultaneously with data storage in data bank;
(7) the summary display computing machine reads historical data from data bank, simulation playback dynamic positioning process.
5. a kind of control method for position according to claim 4 based on deep submersible rescue vehicle four-degree-of-freedom dynamic positioning system (DPS); It is characterized in that: described deep submersible rescue vehicle position, attitude information comprise: the relative position of deep submersible rescue vehicle and absolute location, course, trim, heel, the degree of depth and height, the sensor of measuring the above-mentioned information of deep submersible rescue vehicle is: high frequency short baseline sonar, low frequency short baseline sonar, depth transducer, the high sonar of survey and compass.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101881950B (en) * | 2010-07-09 | 2012-01-04 | 哈尔滨工程大学 | Device for monitoring motion gesture of rotating disk of omnibearing propeller of submersible |
| CN102485591B (en) * | 2010-12-04 | 2015-04-08 | 中国科学院沈阳自动化研究所 | Thrust allocation method and device for miniature underwater robot vector layout thruster |
| CN102320363A (en) * | 2011-06-10 | 2012-01-18 | 中海油田服务股份有限公司 | Autonomous under water ROV dcs |
| CN102508431A (en) * | 2011-11-04 | 2012-06-20 | 江苏科技大学 | Thrust distribution method for power positioning system of offshore drilling platform |
| CN103117011B (en) * | 2013-01-04 | 2014-12-03 | 哈尔滨工程大学 | Dynamic positioning simulation test platform and position control method |
| CN103400517A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨工程大学 | Semi-physical simulation system and manipulating method during lifesaving process of deep submergence rescue vessel |
| CN103399576A (en) * | 2013-08-02 | 2013-11-20 | 哈尔滨工程大学 | Salvage life craft dynamic positioning control system, positioning control method and salvage life craft distance measurement tracking method |
| CN106828841B (en) * | 2017-02-06 | 2018-08-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of dedicated South Pole scientific investigation bathyscaph of teenager's research in defense-related science and technology |
| CN108563234A (en) * | 2018-05-09 | 2018-09-21 | 深圳市吉影科技有限公司 | A kind of underwater unmanned plane self-balancing control method and system |
| CN111959684B (en) * | 2020-08-11 | 2021-12-14 | 智慧航海（青岛）科技有限公司 | Anchoring positioning system and method based on intelligent ship |
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| US3857351A (en) * | 1971-03-25 | 1974-12-31 | Us Navy | Subsurface submersible mating system |
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| US3507241A (en) * | 1968-11-26 | 1970-04-21 | Us Navy | Deep submergence rescue vehicle handling system |
| US3857351A (en) * | 1971-03-25 | 1974-12-31 | Us Navy | Subsurface submersible mating system |
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