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 PDF

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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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姜建国
张宇华
蒋燕君
乔树通
杨兴武
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Shanghai Jiao Tong University
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Abstract

一种船舶工程技术领域的自适应干扰补偿的动态面挖泥船动力定位控制系统及其方法,该系统包括:计算机、现场总线网络、测位系统、执行机构、非线性观测器、自适应率模块和控制器,计算机、测位系统、执行机构通过总线网络连接,计算机分别通过实时读取测位系统的位置信息并通过计算机内的非线性观测器得到低频的位置信息和船舶的速度信息,控制器根据非线性观测器的信息计算干扰的自适应值进行前馈补偿,控制器计算出执行机构应该执行的输出信号并通过总线传输给执行机构,执行机构执行计算机的指令产生推力和力矩。本发明能自适应估算挖泥干扰的变化并进行补偿,从而解决挖泥强干扰对动力定位系统的影响,解决挖泥船动力定位的特殊要求。

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

自适应干扰补偿的动态面挖泥船动力定位控制系统及其方法Dynamic Positioning Control System and Method for Dynamic Surface Dredger with Adaptive Disturbance Compensation

技术领域technical field

本发明涉及的是一种船舶工程技术领域的控制系统,具体是一种自适应干扰补偿的动态面挖泥船动力定位控制系统及其方法。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.

背景技术Background technique

在挖泥船疏浚作业过程中,为了实现对疏浚港口或河道的连续作业,需要对挖泥机构的挖泥位置进行定位,从而要求对挖泥船进行定位控制或循迹控制。定位的要求利于挖泥船进行连续疏浚作业,同时尽量少地占用被疏浚港口或河道的空间,减少对港口运行的影响。因此动力定位系统是先进挖泥船的必备系统。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.

由于挖泥操作干扰较大,单纯负反馈的动力定位系统无法稳定。为了解决挖泥强干扰对动力定位系统的影响,常规做法是在动力定位控制系统的基础上加装挖泥力与力矩传感器做前馈补偿,解决挖泥操作中的强干扰造成的定位不稳,但是额外加装的力与力矩传感器,增加了系统的成本与复杂度。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.

经过对现有技术文献的检索,中国专利公开号:CN1121607A,专利名为:船舶动力定位的神经网络控制系统及其方法,描述了船舶动力定位的神经网络控制系统及其方法,该系统采用“引导模拟退火方法”的神经网络数据训练方法,但并没有针对挖泥船的强干扰给出解决方法,因此对于挖泥船这样的具有强反作用干扰的船只,传统动力定位控制系统不能满足挖泥船动力定位控制的要求。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.

发明内容Contents of the invention

本发明针对现有技术存在的上述不足,提供一种自适应干扰补偿的动态面挖泥船动力定位控制系统及其方法,能自适应估算挖泥干扰的变化并进行补偿,从而解决挖泥强干扰对动力定位系统的影响,解决挖泥船动力定位的特殊要求。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.

本发明是通过以下技术方案实现的:The present invention is achieved through the following technical solutions:

本发明涉及一种自适应干扰补偿的动态面挖泥船动力定位控制系统,包括:计算机、现场总线网络、测位系统、执行机构、非线性观测器、自适应率模块和控制器,其中:计算机、测位系统、执行机构通过总线网络连接,计算机分别通过实时读取测位系统的位置信息并通过计算机内的非线性观测器得到低频的位置信息和船舶的速度信息,控制器根据非线性观测器的信息计算干扰的自适应值进行前馈补偿,控制器计算出执行机构应该执行的输出信号并通过总线传输给执行机构,执行机构执行计算机的指令产生推力和力矩。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.

所述的测位系统为卫星定位系统或水声定位系统。The positioning system is a satellite positioning system or a hydroacoustic positioning system.

所述的现场总线网络是由计算机、执行机构等组成的工业以太网络。The field bus network is an industrial Ethernet network composed of computers, executive agencies and the like.

所述的执行机构是由一套全回转螺旋桨或三个以上分布在同一平面上的推进器组成。The actuator is composed of a set of full-turn propellers or more than three propellers distributed on the same plane.

所述的非线性观测器能够观测得出船舶的低频位置信息和速度信息。The nonlinear observer can observe the low-frequency position information and speed information of the ship.

所述的控制器是依据动态面控制的设计方法设计的控制器,根据给定位置信息与当前位置信息,计算执行机构应该执行的力与力矩,使船舶保持稳定位置。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.

所述的自适应率模块在线估计实时的挖泥干扰和环境干扰。The adaptive rate module estimates real-time dredging and environmental disturbances online.

本发明涉及上述系统的控制方法,包括以下步骤:The present invention relates to the control method of above-mentioned system, comprises the following steps:

第一步、利用DGPS或水声定位仪以及电罗经测出船舶的纵荡、横荡、艏摇信息;The first step is to use DGPS or hydroacoustic locator and gyro compass to measure the surge, sway and yaw information of the ship;

第二步、将第一步得到的信号经过带有陷波器的观测器消除高频成分后,得到船舶的速度信号和低于波浪频率的位置信号,将这两类信号送到控制器;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;

第三步、控制器中包含具有干扰自适应的动态面控制算法,根据自适应动态面控制规则及自适应控制调节参数,计算干扰的自适应值和控制量。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.

第四步、控制器所产生的执行指令经总线网络输出给执行机构。In the fourth step, the execution instructions generated by the controller are output to the actuator through the bus network.

第五步、执行机构按指令执行,将船舶移动到指定位置。The fifth step, the executive agency executes according to the instruction, and moves the ship to the designated position.

考虑到船体受到挖泥反作用力与变化的环境作用力,利用自适应控制来提高控制的性能。常规上来说,当船体受到强挖泥反作用力和力矩,会使船舶位置发生偏移。在人工控制下,可以依据偏移量调整推力器的输出,使其恢复到原来的位置。而自适应控制根据自适应率模块实时估算干扰的力与力矩值,根据估算的干扰实时进行补偿,从而能较好抵消挖泥反作用干扰对船体的作用,使船体以最小的误差和冲击接近指定位置,降低能耗,提高挖泥船的定位精度。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.

本发明不需要在挖泥船的挖泥机构上额外加装传感器,采用算法的自适应率模块估算外部干扰并进行实时补偿,能较好的前馈抵消挖泥干扰或环境干扰,以最小的误差与冲击接近指定位置,故能提高动力定位精度。本发明由于无需加装额外干扰传感器,因而避免由传感器带来的控制系统不稳定和成本增加。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.

附图说明Description of drawings

图1是本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.

具体实施方式Detailed ways

下面对本发明的实施例作详细说明,本实施例在以本发明技术方案为前提下进行实施,给出了详细的实施方式和具体的操作过程,但本发明的保护范围不限于下述的实施例。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.

如图1所示,本发明包括:计算机1、现场总线网络2、测位系统3、执行机构4、非线性观测器5、控制器6、自适应率模块7,计算机1、测位系统3、执行机构4通过总线网络连接,计算机1通过实时读取测位系统3的位置信息,通过计算机1内的非线性观测器5得到低频的位置信息和船舶的速度信息,控制器6根据非线性观测器5的信息计算干扰的自适应值进行前馈补偿,控制器6计算出执行机构4应该执行的输出信号,通过总线2传输给执行机构4,执行机构4执行计算机1的指令产生推力和力矩。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.

所述的测位系统为卫星定位系统或水声定位系统。The positioning system is a satellite positioning system or a hydroacoustic positioning system.

所述的现场总线网络2是由计算机、执行机构等组成的工业以太网络。The field bus network 2 is an industrial Ethernet network composed of computers, executive agencies and the like.

所述的执行机构4是由一套全回转螺旋桨或三个以上分布在同一平面上的推进器组成。The actuator 4 is composed of a set of full-turn propellers or more than three propellers distributed on the same plane.

所述的非线性观测器5能够观测得出船舶的低频位置信息和速度信息。The nonlinear observer 5 can observe the low-frequency position information and speed information of the ship.

所述的控制器6是依据动态面控制的设计方法设计的控制器,根据给定位置信息与当前位置信息,计算执行机构应该执行的力与力矩,使船舶保持稳定位置。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.

所述的自适应率模块7在线估计实时的挖泥干扰和环境干扰。The adaptive rate module 7 estimates real-time dredging disturbance and environmental disturbance online.

本系统控制方法,包括以下步骤:The system control method comprises the following steps:

第一步、利用DGPS或水声定位仪以及电罗经测出船舶的纵荡、横荡、艏摇信息;The first step is to use DGPS or hydroacoustic locator and gyro compass to measure the surge, sway and yaw information of the ship;

第二步、将第一步得到的信号经过带有陷波器的观测器消除高频成分后,得到船舶的速度信号和低于波浪频率的位置信号,将这两类信号送到控制器;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;

第三步、控制器中包含具有干扰自适应的动态面控制算法,根据自适应动态面控制规则及自适应控制调节参数,计算干扰的自适应值和控制量。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.

第四步、控制器所产生的执行指令经总线网络输出给执行机构。In the fourth step, the execution instructions generated by the controller are output to the actuator through the bus network.

第五步、执行机构按指令执行,将船舶移动到指定位置。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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Application publication date: 20110907