CN102176168A - Adaptive interference compensation dynamic surface dredger power positioning control system and method thereof - Google Patents
Adaptive interference compensation dynamic surface dredger power positioning control system and method thereof Download PDFInfo
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- CN102176168A CN102176168A CN2011100803302A CN201110080330A CN102176168A CN 102176168 A CN102176168 A CN 102176168A CN 2011100803302 A CN2011100803302 A CN 2011100803302A CN 201110080330 A CN201110080330 A CN 201110080330A CN 102176168 A CN102176168 A CN 102176168A
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Abstract
The invention discloses an adaptive interference compensation dynamic surface dredger power positioning control system and an adaptive interference compensation dynamic surface dredger power positioning control method in the technical field of ship engineering. The system comprises a computer, a field bus network, a position finding system, an executive mechanism, a nonlinear observer, an adaptive rate module and a controller, wherein the computer, the position finding system and the executive mechanism are connected by the bus network; the computer obtains low frequency position information and ship speed information by reading the position information from the position finding system in real time and by the nonlinear observer in the computer respectively; the controller calculates an adaptive value of interference according to the information of the nonlinear observer, performs feedforward compensation, calculates an output signal which is required to be executed by the executive mechanism, and transmits the output signal to the executive mechanism by a bus; and the executive mechanism executes an instruction of the computer to produce thrust and torque. In the system and the method, the change of dredging interference can be adaptively estimated and compensated, thereby avoiding the influence of strong dredging interference on the power positioning system and meeting the special requirements of dredger power positioning.
Description
Technical field
What the present invention relates to is a kind of control system of Marine engineering technical field, specifically is a kind of dynamic face hog barge power-positioning control system and method thereof of adaptive disturbance compensation.
Background technology
In the dredger dredging operation process,,, requirement controls or tracking control thereby positioning hog barge in order to realize need the position of dredging of the mechanism of dredging being positioned to dredging working continuously of harbour or river course.The requirement of location is beneficial to hog barge and carries out continuous dredging operation, takies less simultaneously by the space in dredging harbour or river course as far as possible, reduces the influence to the harbour operation.Therefore dynamic positioning system is the indispensable system of advanced hog barge.
The operation interference is bigger owing to dredge, and simple degenerative dynamic positioning system can't be stablized.In order to solve the influence of strong jamming of dredging to dynamic positioning system, conventional way is to install the power of dredging additional and torque sensor is done feedforward compensation on the basis of power-positioning control system, the solution location shakiness that causes of strong jamming in the operation of dredging, but power that additionally installs additional and torque sensor have increased the cost and the complexity of system.
Through retrieval to the prior art document, Chinese patent publication number: CN1121607A, patent is by name: the nerve network control system of dynamic positioning of vessels and method thereof, the nerve network control system and the method thereof of dynamic positioning of vessels have been described, this system adopts the Neural Network Data training method of " guiding simulated annealing method ", but the strong jamming at hog barge does not provide solution, therefore for the such ship with strong retroaction interference of hog barge, the traditional power positioning control system can not satisfy the requirement of hog barge Dynamic Positioning Control System.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of dynamic face hog barge power-positioning control system and method thereof of adaptive disturbance compensation are provided, can adaptive estimation the dredge variation disturbed and compensating, strong jamming solves the specific (special) requirements of hog barge dynamically positioning to the influence of dynamic positioning system thereby solution is dredged.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of dynamic face hog barge power-positioning control system of adaptive disturbance compensation, 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.
Described location system is global position system or acoustic positioning system.
The Industrial Ethernet network that described fieldbus networks is made up of computing machine, topworks etc.
Described topworks is made up of a cover full circle swinging screw propeller or the thruster that distributes more than three at grade.
Described nonlinear observer can be observed low frequency positional information and the velocity information that draws boats and ships.
Described controller is according to the controller of the method for designing design of dynamically face control, according to given position information and current location information, calculates power and moment that topworks should carry out, makes boats and ships keep settling position.
Dredging that described adaptive rate module On-line Estimation is real-time disturbed and environmental interference.
The present invention relates to the control method of said system, 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.
Consider hull be subjected to the dredging environmental activity power of reacting force and variation, utilize adaptive control to improve the performance of control.Conventionally, when hull is subjected to dredge by force reacting force and moment, vessel position is offset.Under manual control, can adjust the output of thruster according to side-play amount, make it return to original position.And the power and the moment values of interference are estimated in adaptive control in real time according to the adaptive rate module, interference according to estimation compensates in real time, thereby can better offset the effect of retroaction interference of dredging to hull, hull is impacted near assigned address with the sum of errors of minimum, cut down the consumption of energy, improve the bearing accuracy of hog barge.
The present invention need additionally not installed sensor additional in the mechanism of dredging of hog barge, adopt the adaptive rate module estimation external disturbance of algorithm and carry out real-Time Compensation, feedforward cancellation is dredged and is disturbed or environmental interference preferably, with the error of minimum with impact near assigned address, so can improve the dynamically positioning precision.The present invention is owing to need not to install additional the extra interference sensor, thereby avoids the unstable and cost increase of control system that brought by sensor.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present invention includes: computing machine 1, fieldbus networks 2, location system 3, topworks 4, nonlinear observer 5, controller 6, adaptive rate module 7, computing machine 1, location system 3, topworks 4 connects by bus network, computing machine 1 is by reading the positional information of location system 3 in real time, obtain the positional information of low frequency and the velocity information of boats and ships by the nonlinear observer 5 in the computing machine 1, the adaptation value that controller 6 disturbs according to the information calculations of nonlinear observer 5 carries out feedforward compensation, controller 6 calculates the output signal that topworks 4 should carry out, be transferred to topworks 4 by bus 2, the instruction of topworks's 4 object computers 1 produces thrust and moment.
Described location system is global position system or acoustic positioning system.
The Industrial Ethernet network that described fieldbus networks 2 is made up of computing machine, topworks etc.
Described topworks 4 is made up of a cover full circle swinging screw propeller or the thruster that distributes more than three at grade.
Described nonlinear observer 5 can be observed low frequency positional information and the velocity information that draws boats and ships.
Described controller 6 is according to the controller of the method for designing design of dynamically face control, according to given position information and current location information, calculates power and moment that topworks should carry out, makes boats and ships keep settling position.
Dredging that described adaptive rate module 7 On-line Estimation are real-time disturbed and environmental interference.
The native system control method 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.
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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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103676654A (en) * | 2013-12-17 | 2014-03-26 | 哈尔滨工程大学 | Ship dynamic positioning speed estimation system and method based on interference compensation |
| CN104483977A (en) * | 2014-10-11 | 2015-04-01 | 国家电网公司 | No-speed feedback dynamic surface control method for steering engine pan-tilt |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103676654A (en) * | 2013-12-17 | 2014-03-26 | 哈尔滨工程大学 | Ship dynamic positioning speed estimation system and method based on interference compensation |
| CN103676654B (en) * | 2013-12-17 | 2015-12-02 | 哈尔滨工程大学 | Based on the dynamic positioning of vessels velocity estimation system and method for interference compensation |
| CN104483977A (en) * | 2014-10-11 | 2015-04-01 | 国家电网公司 | No-speed feedback dynamic surface control method for steering engine pan-tilt |
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Application publication date: 20110907 |