CN102176168A - Adaptive interference compensation dynamic surface dredger power positioning control system and method thereof - Google Patents

Abstract

A dynamic positioning control system and method for a dynamic surface dredger with adaptive disturbance compensation in the field of ship engineering technology, the system includes: a computer, a field bus network, a positioning system, an actuator, a nonlinear observer, an adaptive rate The module and the controller, the computer, the positioning system, and the actuator are connected through the bus network. The computer respectively reads the position information of the positioning system in real time and obtains the low-frequency position information and the speed information of the ship through the nonlinear observer in the computer. The controller calculates the adaptive value of the disturbance based on the information of the nonlinear observer to perform feed-forward compensation. The controller calculates the output signal that the actuator should execute and transmits it to the actuator through the bus. The actuator executes the instructions of the computer to generate thrust and torque. The invention can self-adaptively estimate and compensate the change of dredging disturbance, so as to solve the influence of strong dredging disturbance on the dynamic positioning system and solve the special requirement of the dynamic positioning of the dredger.

Description

Dynamic Positioning Control System and Method for Dynamic Surface Dredger with Adaptive Disturbance Compensation

technical field

The invention relates to a control system in the technical field of ship engineering, in particular to an adaptive disturbance compensation dynamic positioning control system for a dynamic surface dredger and a method thereof.

Background technique

During the dredging operation of dredgers, in order to realize the continuous operation of dredging ports or rivers, it is necessary to locate the dredging position of the dredging mechanism, which requires positioning control or tracking control of the dredger. The positioning requirements are conducive to continuous dredging operations by dredgers, and at the same time occupy as little space as possible in the dredged port or river, reducing the impact on port operations. Therefore, the dynamic positioning system is an essential system for advanced dredgers.

Due to the large disturbance of dredging operation, the dynamic positioning system with pure negative feedback cannot be stable. In order to solve the impact of strong dredging disturbance on the dynamic positioning system, the conventional method is to add dredging force and torque sensors on the basis of the dynamic positioning control system for feed-forward compensation to solve the positioning instability caused by strong disturbance during dredging operations , but additionally installed force and torque sensors increase the cost and complexity of the system.

After searching the prior art documents, Chinese Patent Publication No.: CN1121607A, patent name: Neural Network Control System and Method for Ship Dynamic Positioning, describes the neural network control system and method for ship dynamic positioning. The system adopts " The neural network data training method of "guided simulated annealing method", but it does not provide a solution for the strong interference of dredgers. Therefore, for ships with strong reaction interference such as dredgers, the traditional dynamic positioning control system cannot meet the requirements of dredging. Ship dynamic positioning control requirements.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides an adaptive disturbance compensation dynamic positioning control system for a dynamic surface dredger and its method, which can self-adaptively estimate the change of dredging disturbance and compensate for it, thereby solving the dredging problem. The impact of interference on the dynamic positioning system, to solve the special requirements of the dynamic positioning of dredgers.

The present invention is achieved through the following technical solutions:

The invention relates to a dynamic positioning control system for a dynamic surface dredger with adaptive interference compensation, comprising: a computer, a field bus network, a positioning system, an actuator, a nonlinear observer, an adaptive rate module and a controller, wherein: The computer, the positioning system and the actuator are connected through the bus network. The computer reads the position information of the positioning system in real time and obtains the low-frequency position information and the speed information of the ship through the nonlinear observer in the computer. The controller according to the nonlinear The information of the observer calculates the adaptive value of the disturbance for feed-forward compensation. The controller calculates the output signal that the actuator should execute and transmits it to the actuator through the bus. The actuator executes the instructions of the computer to generate thrust and torque.

The positioning system is a satellite positioning system or a hydroacoustic positioning system.

The field bus network is an industrial Ethernet network composed of computers, executive agencies and the like.

The actuator is composed of a set of full-turn propellers or more than three propellers distributed on the same plane.

The nonlinear observer can observe the low-frequency position information and speed information of the ship.

The controller is designed according to the design method of dynamic surface control. According to the given position information and the current position information, the force and moment that the actuator should execute are calculated to keep the ship in a stable position.

The adaptive rate module estimates real-time dredging and environmental disturbances online.

The present invention relates to the control method of above-mentioned system, comprises the following steps:

The first step is to use DGPS or hydroacoustic locator and gyro compass to measure the surge, sway and yaw information of the ship;

In the second step, the signal obtained in the first step is passed through an observer with a wave trap to eliminate high-frequency components, and the speed signal of the ship and the position signal lower than the wave frequency are obtained, and these two types of signals are sent to the controller;

In the third step, the controller includes a disturbance-adaptive dynamic surface control algorithm, and calculates the disturbance adaptive value and control amount according to the adaptive dynamic surface control rules and the adaptive control adjustment parameters.

In the fourth step, the execution instructions generated by the controller are output to the actuator through the bus network.

The fifth step, the executive agency executes according to the instruction, and moves the ship to the designated position.

Considering that the hull is subjected to the dredging reaction force and the changing environmental force, adaptive control is used to improve the control performance. Conventionally, when the hull is subjected to strong dredging reaction forces and moments, the position of the ship will shift. Under manual control, the output of the thruster can be adjusted according to the offset to restore it to its original position. The adaptive control estimates the force and moment values of the disturbance in real time according to the adaptive rate module, and compensates in real time according to the estimated disturbance, so that the effect of the dredging reaction disturbance on the hull can be better offset, so that the hull can approach the specified value with the smallest error and impact. position, reduce energy consumption, and improve the positioning accuracy of the dredger.

The invention does not need to install additional sensors on the dredging mechanism of the dredger, and uses the self-adaptive rate module of the algorithm to estimate external interference and perform real-time compensation, which can better feed forward to offset dredging interference or environmental interference, with the minimum The error and impact are close to the specified position, so the dynamic positioning accuracy can be improved. The present invention avoids the instability of the control system and the cost increase caused by the sensors because no additional interference sensors need to be installed.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Fig. 1, the present invention comprises: computer 1, field bus network 2, positioning system 3, actuator 4, nonlinear observer 5, controller 6, adaptive rate module 7, computer 1, positioning system 3 , the actuator 4 is connected through the bus network, the computer 1 reads the position information of the positioning system 3 in real time, and obtains the low-frequency position information and the speed information of the ship through the nonlinear observer 5 in the computer 1, and the controller 6 according to the nonlinear The information from the observer 5 calculates the adaptive value of the disturbance for feed-forward compensation, the controller 6 calculates the output signal that the actuator 4 should execute, and transmits it to the actuator 4 through the bus 2, and the actuator 4 executes the instructions of the computer 1 to generate thrust and moment.

The positioning system is a satellite positioning system or a hydroacoustic positioning system.

The field bus network 2 is an industrial Ethernet network composed of computers, executive agencies and the like.

The actuator 4 is composed of a set of full-turn propellers or more than three propellers distributed on the same plane.

The nonlinear observer 5 can observe the low-frequency position information and speed information of the ship.

The controller 6 is designed according to the design method of dynamic surface control. According to the given position information and the current position information, it calculates the force and moment that the actuator should execute to keep the ship in a stable position.

The adaptive rate module 7 estimates real-time dredging disturbance and environmental disturbance online.

The system control method comprises the following steps:

The first step is to use DGPS or hydroacoustic locator and gyro compass to measure the surge, sway and yaw information of the ship;

In the second step, the signal obtained in the first step is passed through an observer with a wave trap to eliminate high-frequency components, and the speed signal of the ship and the position signal lower than the wave frequency are obtained, and these two types of signals are sent to the controller;

In the third step, the controller includes a disturbance-adaptive dynamic surface control algorithm, and calculates the disturbance adaptive value and control amount according to the adaptive dynamic surface control rules and the adaptive control adjustment parameters.

In the fourth step, the execution instructions generated by the controller are output to the actuator through the bus network.

The fifth step, the executive agency executes according to the instruction, and moves the ship to the designated position.

Claims (8)

1. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation, it is characterized in that, comprise: computing machine, fieldbus networks, location system, topworks, nonlinear observer, adaptive rate module and controller, wherein: computing machine, location system, topworks connects by bus network, computing machine is the positional information by reading location system in real time and obtain the positional information of low frequency and the velocity information of boats and ships by the nonlinear observer in the computing machine respectively, the adaptation value that controller disturbs according to the information calculations of nonlinear observer carries out feedforward compensation, controller calculates output signal that topworks should carry out and gives topworks by bus transfer, and the instruction of topworks's object computer produces thrust and moment.

2. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation according to claim 1 is characterized in that described location system is global position system or acoustic positioning system.

3. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation according to claim 1 is characterized in that the Industrial Ethernet network that described fieldbus networks is made up of computing machine, topworks etc.

4. the dynamic face hog barge power-positioning control system of adaptive disturbance according to claim 1 compensation is characterized in that, described topworks is made up of a cover full circle swinging screw propeller or the thruster that distributes at grade more than three.

5. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation according to claim 1 is characterized in that described nonlinear observer can be observed low frequency positional information and the velocity information that draws boats and ships.

6. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation according to claim 1, it is characterized in that, described controller is the controller according to the method for designing design of dynamically face control, according to given position information and current location information, calculate power and moment that topworks should carry out, make boats and ships keep settling position.

7. the dynamic face hog barge power-positioning control system of adaptive disturbance compensation according to claim 1 is characterized in that, dredging that described adaptive rate module On-line Estimation is real-time disturbed and environmental interference.

8. the control method according to the described system of above-mentioned arbitrary claim is characterized in that, may further comprise the steps:

The first step, utilize DGPS or hydrolocator and gyro compass to measure surging, swaying, the yawing information of boats and ships;

After second step, the signal that the first step is obtained are eliminated radio-frequency component through the observer that has trapper, obtain the rate signal of boats and ships and be lower than the position signalling of wave frequencies, this two classes signal is delivered to controller;

Comprise dynamic face control algolithm in the 3rd step, the controller, regulate parameter, calculate adaptation value and the controlled quentity controlled variable disturbed according to dynamic face control law of self-adaptation and adaptive control with interference adaptive;

The 4th step, the execution command that controller produced are exported to topworks through bus network;

The 5th step, topworks carry out by instruction, and boats and ships are moved to assigned address.

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