CN103552680A - Fan-shaped bow jet positioning and control method for trailing suction hopper dredger - Google Patents

Abstract

The invention relates to a fan-shaped bow jet positioning and control method for a trailing suction hopper dredger, and belongs to the technical field of ship dynamic positioning. The fan-shaped bow jet positioning and control method for the trailing suction hopper dredger comprises the following specific steps: 1, thrust computation: a dynamic positioning system is used for carrying out thrust computation and thrust distribution; 2, power management mode determination: during the fan-shaped bow jet of the trailing suction hopper dredger, a power management system provides two operating modes, the first management mode is a normal dredging mode and is suitable for trailing suction dredging and hydraulic fill operation, and the second management mode is suitable for the dredging operation and mud dumping of a single dredge pump and the hydraulic fill operation of a single pump/a power-reduced double pump; 3, the fan-shaped bow jet positioning process of the trailing suction hopper dredger: after the bow jet begins, under the automatic dynamic positioning mode, the dredger performs fan-shaped bow jet within a set pendulum angle until the bow jet and mud dumping of the whole dredger are finished. The fan-shaped bow jet positioning and control method has the advantages that the operation is convenient, the control is precise, and the quality and efficiency in bow jet and mud dumping of the trailing suction hopper dredger can be greatly improved.

Description

The fan-shaped bow spray of a kind of drag suction dredger position control method

Technical field

The invention belongs to dynamic positioning of vessels technical field, particularly relate to the fan-shaped bow spray of a kind of drag suction dredger position control method.

Background technology

At present, the fan-shaped bow spray of drag suction dredger positioning control is one of important model of raking, sucking mud digging ship dredging operation, automatic control by dynamic positioning system (DPS) can greatly improve quality and the efficiency that mud is thrown in the spray of drag suction dredger bow, and it will relate to the problems such as thrust distribution, bow spray back pressure model, power managed modes and bow spray positioning control flow process of drag suction dredger.

As special engineering ship---during the operation of drag suction dredger bow spray dump, need drag suction dredger to do fan-shaped bow spray positioning control, existing position control method is complicated, control inaccurate, usually cause the mud of bow spray to be piled into mountain, there is operation inconvenience, have a strong impact on the technical matterss such as operating efficiency and production safety.

Summary of the invention

The present invention provides the fan-shaped bow spray of a kind of drag suction dredger position control method for solving the technical matters existing in known technology.

The object of this invention is to provide and a kind ofly have easy to operately, precise control, can greatly improve the fan-shaped bow spray of the drag suction dredger position control method of the features such as quality that drag suction dredger bow spray throws mud and efficiency.

The present invention is as special engineering ship---during the operation of drag suction dredger bow spray dump, need drag suction dredger to do fan-shaped bow spray positioning control, dynamic positioning system (DPS) according to certain arc scope (initial bow is to angle) and turning velocity automatically control ship bow to, mud is evenly ejected into assigned address, improves operation quality and efficiency.The principal feature of this dredging operation pattern is: boats and ships work in dynamic positioning state (DP pattern), by the power division of power management system, under the synergy of propelling unit and rudder, carry out ship bow to control, form the fan-shaped swing of boats and ships, reach the object of even throwing mud.When mud is thrown in fan-shaped bow spray, the back pressure of rainbow spray will be considered, flow velocity and the density dependent connection of this power and bow spray mud.

The technical scheme that the fan-shaped bow spray of drag suction dredger of the present invention position control method is taked is:

A fan-shaped bow spray position control method, is characterized in: the fan-shaped bow spray of dredger position control method comprises following concrete steps:

1) thrust is calculated

Dynamic positioning system (DPS) is carried out thrust calculating and thrust is distributed, by assignment logic control propelling unit, rudder produces corresponding force and moment, to contend with, act on external interference power and the disturbance torque of boats and ships, make boats and ships keep navigation or location and meet bow to, the speed of a ship or plane, flight path and accuracy requirement;

2) determine power managed modes

During the spray of the fan-shaped bow of drag suction dredger, power management system should provide two kinds of mode of operations, and the first management mode is normal dredging pattern, be suitable for rake inhale dredge, hydraulic reclamation operation; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management; The second management pattern is suitable for the dredging operation of separate unit dredge pump, throw mud and single pump/and the operation of power double pump hydraulic reclamation falls; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management;

3) the fan-shaped bow spray of drag suction dredger positioning flow

(1) ship is taken to and is deadlocked near desired location, select best stem to as stem to set-point, and select automatic dynamic location;

(2) when fan-shaped bow sprays, first select boats and ships centre of gration, pendulum angle, fan-shaped bow spray positioning space, and carry out the mark of fulcrum;

(3) carry out the model selection of power management, during guaranteeing the spray of fan-shaped bow, main engine power is mainly used in the spray of pumping bow, and provides and can be used for keeping stem to the minimum power with accommodation;

(4) according to the sea conditions of operating area wind, wave, stream, the position control ability of calculating boats and ships under dynamicpositioning state, select the initial accommodation of ship bow spray and stem to, while guaranteeing that boats and ships are done teeter, boats and ships only need minimum confining force, and sustainer, main engine sprays for fan-shaped bow holding with minimum load;

(5) show dynamic position control parameter;

(6), after bow spray starts, under automatic dynamic station-keeping mode, boats and ships are done fan-shaped bow spray in the pendulum angle of setting, an oscillation period finishes, boats and ships move forward a fan-shaped bow spray positioning space, complete next fan-shaped swing, until mud is thrown in full stem spray, finish.

The fan-shaped bow spray of drag suction dredger of the present invention position control method can also adopt following technical scheme:

The fan-shaped bow spray of described drag suction dredger position control method, be characterized in: thrust distribution design is divided into two parts: (1) sets up suitable optimization aim function and constraint condition, find corresponding optimized algorithm, considering propelling unit physical condition, dynamic thrust region, avoiding under singular structure prerequisite, to meet ship's fix, bow to, the optimum requirement of energy consumption; (2) consider between boats and ships and hull and the hydrodynamic force disturbing influence between propelling unit.

The fan-shaped bow spray of described drag suction dredger position control method, be characterized in: show that dynamic position control parameter comprises: pivot point is to the cross distance of dynamicpositioning point in swing process, bow spray back pressure and power managed modes, bow side direction speed on the ground, and represent larboard or starboard direction by arrow, obtain best stem to the sector region of permission search, distance benchmark between fulcrum and dynamicpositioning point, the speed on the ground of fulcrum, the historical position path of flight path, the thrust size of bow side thruster, direction and relative rotation speed, the angle of rake thrust size of stern, direction and relative rotation speed.

Advantage and good effect that the present invention has are:

The fan-shaped bow of drag suction dredger spray position control method is owing to having adopted the brand-new technical scheme of the present invention, and compared with prior art, the present invention has easy to operate, and precise control can greatly improve the advantages such as quality that the spray of drag suction dredger bow throws mud and efficiency.

Accompanying drawing explanation

Fig. 1 is dredger system of axes of the present invention and the general arrangement structure schematic diagram of propelling unit thereof;

Fig. 2 is the thrust area map (X is surging power, and Y is swaying power) of screw propeller and rudder thrust combination results;

Fig. 3 is that drag suction dredger bow sprays fan-shaped swing schematic flow sheet.

The specific embodiment

For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:

Consult accompanying drawing 1, Fig. 2 and Fig. 3.

Embodiment 1

A fan-shaped bow spray position control method, comprises following concrete steps:

1) thrust is calculated

Dynamic positioning system (DPS) is carried out thrust calculating and thrust is distributed, by assignment logic control propelling unit, rudder produces corresponding force and moment, to contend with, act on external interference power and the disturbance torque of boats and ships, make boats and ships keep navigation or location and meet bow to, the speed of a ship or plane, flight path and accuracy requirement;

2) determine power managed modes

During the spray of the fan-shaped bow of drag suction dredger, power management system should provide two kinds of mode of operations, and the first management mode is normal dredging pattern, be suitable for rake inhale dredge, hydraulic reclamation operation; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management; The second management pattern is suitable for the dredging operation of separate unit dredge pump, throw mud and single pump/and the operation of power double pump hydraulic reclamation falls; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management;

3) the fan-shaped bow spray of drag suction dredger positioning flow

(1) ship is taken to and is deadlocked near desired location, select best stem to as stem to set-point, and select automatic dynamic location;

(2) when fan-shaped bow sprays, first select boats and ships centre of gration, pendulum angle, fan-shaped bow spray positioning space, and carry out the mark of fulcrum;

(3) carry out the model selection of power management, during guaranteeing the spray of fan-shaped bow, main engine power is mainly used in the spray of pumping bow, and provides and can be used for keeping stem to the minimum power with accommodation;

(4) according to the sea conditions of operating area wind, wave, stream, the position control ability of calculating boats and ships under dynamicpositioning state, select the initial accommodation of ship bow spray and stem to, while guaranteeing that boats and ships are done teeter, boats and ships only need minimum confining force, and sustainer, main engine sprays for fan-shaped bow holding with minimum load;

(5) show dynamic position control parameter;

(6), after bow spray starts, under automatic dynamic station-keeping mode, boats and ships are done fan-shaped bow spray in the pendulum angle of setting, an oscillation period finishes, boats and ships move forward a fan-shaped bow spray positioning space, complete next fan-shaped swing, until mud is thrown in full stem spray, finish.

Details are as follows for the concrete position control method of the present embodiment and implementation process thereof:

1, thrust is calculated

It is an important component part of dynamic positioning system (DPS) that thrust is distributed, its main task be by certain assignment logic control propelling unit, rudder produces corresponding force and moment, to contend with, act on external interference power and the disturbance torque of boats and ships, make boats and ships keep navigation or location and meet bow to requirements such as, the speed of a ship or plane, flight path and precision.The design of thrust allocation strategy is divided into two large divisions: (1) sets up suitable optimization aim function and constraint condition, find corresponding optimized algorithm, considering propelling unit physical condition, dynamic thrust region, avoiding under the prerequisites such as singular structure, to meet ship's fix, bow to, the most excellent requirement of energy consumption.(2) consider between boats and ships and hull and the hydrodynamic force interference problem between propelling unit.

When the fan-shaped bow spray of drag suction dredger location, the speed of a ship or plane is very low, and motion of ship only considers that surging, swaying and head shake motion, can adopt 3DOF model to describe, and the angle of rake Typical Disposition of drag suction dredger comprises screw propeller, tunnel type propelling unit and rudder etc.

Suppose that boats and ships have p propelling unit, p _rfor direction-changeable propelling unit number, p _ffor fixed-direction propelling unit number, change the control variable number n=2p that pushes away force and moment _r+ p _f.The broad sense force and moment that acts on hull can be set as τ=[X, Y, N] ^t.K propeller system is positioned at the position r of boats and ships centre of gration system of axes _k=[L _k,x, L _k,y] ^t, the thrust that this propelling unit produces is T _k, angle is α _k.The angle of rake α of fixed-direction _kconstant, the angle of rake α of direction-changeable _kcan change.As shown in Figure 1.

, k propelling unit provides the following broad sense force and moment on ship that acts on:

X _k=T _kcosα _k （1）

Y _k=T _kSinα _k （2）

N _k=T _kL _kcosα _k （3）

Wherein: L _k=L _k,xsin α _k-L _k,ycos α _k

The summation of power is: τ=A (α) T (4)

Wherein: T=[T ₁... T _p] ^twith $A\left(\mathrm{\α}\right)=\left[\begin{array}{ccc}{\cos \mathrm{\α}}_1& ...& \cos {\mathrm{\α}}_p\\ \sin {\mathrm{\α}}_1& ...& \sin {\mathrm{\α}}_p\\ L_1& ...& L_p\end{array}\right]$

By each the thrust u in decomposition water plane _k,x=X _k, u _k,y=Y _kcan obtain the thrust vectoring u of expansion.

For direction-changeable propelling unit u _k=[u _k,x, u _k,y] ^t∈ R ², 1≤k≤p _r, for fixed-direction propelling unit u _k∈ R, p _r+ 1≤k≤p.

Provide the linear model that broad sense advances vector: τ=Bu (5)

Wherein: u=[u ₁... u _p] ^t∈ R ⁿand B ∈ R ^{3 * n}.

Provide B=[B _rb _f],

Be defined as $B_r=\left[\begin{array}{ccccc}1& 0& ...& 1& 0\\ 0& 1& ...& 0& 1\\ -L_{1,y}& L_{1,x}& ...& -L_{p_r,y}& L_{p_r,x}\end{array}\right],B_r\∈R^{3\×2p_r}$

$B_f=\left[\begin{array}{ccc}\cos {\mathrm{\α}}_{p_r+1}& ...& \cos {\mathrm{\α}}_p\\ \sin {\mathrm{\α}}_{p_r+1}& ...& {\sin \mathrm{\α}}_p\\ L_{p_r+1}& ...& L_p\end{array}\right],B_f\∈R^{3\×p_f}$

Above-mentioned thrust method of calculating can be used for direction-changeable propelling unit and the fixed-direction propelling unit of any combination.

For drag suction dredger, in the combination that has screw propeller, side thruster and rudder, also rising and the resistance mould+type of screw propeller and rudder will be solved.

$T=\left\{\begin{array}{c}{\mathrm{kT}}_p{\mathrm{\&omega;}}^2,\mathrm{\&omega;}\&GreaterEqual;0\\ {\mathrm{kT}}_n\left|\mathrm{\&omega;}\right|\mathrm{\&omega;},\mathrm{\&omega;}<0\end{array}\right.---\left(6\right)$

$L=\left\{\begin{array}{c}T\left({1+k}_{\mathrm{Ln}}\mathrm{\&omega;}\right)(k_{{\mathrm{L\&delta;}}_1}\mathrm{\&delta;}+k_{{\mathrm{L\&delta;}}_2}|\mathrm{\&delta;}\left|\mathrm{\&delta;}\right),\mathrm{\&omega;}\&GreaterEqual;0\\ 0,\mathrm{\&omega;}<0\end{array}\right.---\left(7\right)$

$D=\left\{\begin{array}{c}T\left({1+k}_{\mathrm{Dn}}\mathrm{\&omega;}\right)(k_{{\mathrm{D\&delta;}}_1}\mathrm{\&delta;}+k_{{\mathrm{D\&delta;}}_2}{\mathrm{\&delta;}}^2),\mathrm{\&omega;}\&GreaterEqual;0\\ 0,\mathrm{\&omega;}<0\end{array}\right.---\left(8\right)$

T is thrust, and L is rudder raising force, and D is resistance of rudder, and ω is screw propeller cireular frequency, and δ is angle of rudder reflection.Screw propeller and rudder provide as follows to the power of surging and swaying: X=T-D, Y=L.When thrust forward, model produces fan-shaped thrust region, and when thrust is during when thrust reversing, rudder does not have remarkable result, and thrust region is simply along the straight line of X-axis, as shown in Figure 2.

2, bow spray reaction thrust model

When drag suction dredger fixed point bow spray operation, the shower nozzle of drag suction dredger can spray a large amount of slurry mixtures, and the constantly fan-shaped variation of generation of direction, and the flow velocity of slurry mixture is higher, can produce larger repulsion power to boats and ships.

If stem nozzle axis (being jet direction) is α with horizontal plane angle, nozzle exit jet speed is V (m/s), and jet mud density is ρ (t/m ³), flow Q (m ³/ s), the recoil approximate calculation that jet produces hull is as follows:

Horizontal direction:

F _H=ρQVcosα (kN) （7）

Vertical:

F _V=ρQVsinα (kN) （8）

When the diameter d of known bow jet flow amount Q and nozzle exit section (unit: in the time of m), nozzle exit jet speed can be calculated as follows:

$V=\frac{4Q}{{\mathrm{\&pi;d}}^2}---\left(9\right)$

:

Horizontal direction:

F _H=4ρQ ²cosα/(πd ²) (kN) （10）

Vertical:

F _V=4ρQ ²sinα/(πd ²) (kN) （11）

3, power managed modes determines

During the fan-shaped bow spray of drag suction dredger, power management system should provide two kinds of mode of operations, specifically describes as follows:

1) pattern 1

This pattern is normal dredging pattern, be suitable for rake inhale dredge, hydraulic reclamation operation.Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management.

2) pattern 2

This pattern is suitable for the dredging operation of separate unit dredge pump, throw mud and single pump/and the operation of power double pump hydraulic reclamation falls.Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management.

4, the fan-shaped bow spray of drag suction dredger positioning flow

With reference to accompanying drawing 3.Drag suction dredger bow sprays fan-shaped swing flow process to be described:

(1) ship is taken to and is deadlocked near desired location, select best stem to as stem to set-point, and select " dynamicpositioning-automatically ".

(2) when fan-shaped bow sprays, first select boats and ships centre of gration, pendulum angle, fan-shaped bow spray positioning space, and carry out the mark of fulcrum.

(3) carry out the model selection of power management, during guaranteeing the spray of fan-shaped bow, main engine power is mainly used in the spray of pumping bow, and provides and can be used for keeping stem to the minimum power with accommodation.

(4) according to the sea conditions of operating area wind, wave, stream, the position control ability of calculating boats and ships under dynamicpositioning state, select the initial accommodation of ship bow spray and stem to, while guaranteeing that boats and ships are done teeter, boats and ships only need minimum confining force, and sustainer, main engine sprays for fan-shaped bow holding with minimum load.

(5) principal parameter showing:

Pivot point is to the cross distance of dynamicpositioning point in swing process

Bow spray back pressure and power managed modes.

Bow side direction speed on the ground, and represent direction (larboard or starboard) by arrow.

Obtain best stem to the sector region of permission search.

Distance benchmark between fulcrum and dynamicpositioning point.

The historical position path of the speed on the ground of fulcrum, flight path.

Thrust size, direction and the relative rotation speed of bow side thruster.

The angle of rake thrust size of stern, direction and relative rotation speed.

(6), after bow spray starts, under " dynamicpositioning-automatic " pattern, boats and ships are done fan-shaped bow spray in the pendulum angle of setting, an oscillation period finishes, boats and ships move forward a fan-shaped bow spray positioning space, complete next fan-shaped swing, until mud is thrown in full stem spray, finish.

The present embodiment has the fan-shaped bow spray of described drag suction dredger position control method, has the advantages such as easy to operate, precise control, can greatly improve quality and the efficiency of drag suction dredger bow spray throwing mud by the automatic control of dynamic positioning system (DPS).

Claims (3)

1. the fan-shaped bow of drag suction dredger sprays a position control method, it is characterized in that: the fan-shaped bow spray of dredger position control method comprises following concrete steps:

1) thrust is calculated

Dynamic positioning system (DPS) is carried out thrust calculating and thrust is distributed, by assignment logic control propelling unit, rudder produces corresponding force and moment, to contend with, act on external interference power and the disturbance torque of boats and ships, make boats and ships keep navigation or location and meet bow to, the speed of a ship or plane, flight path and accuracy requirement;

2) determine power managed modes

During the spray of the fan-shaped bow of drag suction dredger, power management system provides two kinds of mode of operations, and the first management mode is normal dredging pattern, be suitable for rake inhale dredge, hydraulic reclamation operation; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management; The second management pattern is suitable for the dredging operation of separate unit dredge pump, throw mud and single pump/and the operation of power double pump hydraulic reclamation falls; Management management system need to be to left/right dredge pump inverter supply, and to every main frame, axle send out, main transformer carries out power management;

3) the fan-shaped bow spray of drag suction dredger positioning flow

(1) ship is taken to and is deadlocked near desired location, select best stem to as stem to set-point, and select automatic dynamic location;

(2) when fan-shaped bow sprays, first select boats and ships centre of gration, pendulum angle, fan-shaped bow spray positioning space, and carry out the mark of fulcrum;

(3) carry out the model selection of power management, during guaranteeing the spray of fan-shaped bow, main engine power is mainly used in the spray of pumping bow, and provides and can be used for keeping stem to the minimum power with accommodation;

(4) according to the sea conditions of operating area wind, wave, stream, the position control ability of calculating boats and ships under dynamicpositioning state, select the initial accommodation of ship bow spray and stem to, while guaranteeing that boats and ships are done teeter, boats and ships only need minimum confining force, and sustainer, main engine sprays for fan-shaped bow holding with minimum load;

(5) show dynamic position control parameter;

(6), after bow spray starts, under automatic dynamic station-keeping mode, boats and ships are done fan-shaped bow spray in the pendulum angle of setting, an oscillation period finishes, boats and ships move forward a fan-shaped bow spray positioning space, complete next fan-shaped swing, until mud is thrown in full stem spray, finish.

2. the fan-shaped bow of drag suction dredger according to claim 1 sprays position control method, it is characterized in that: thrust distribution design is divided into two parts: (1) sets up suitable optimization aim function and constraint condition, find corresponding optimized algorithm, considering propelling unit physical condition, dynamic thrust region, avoiding under singular structure prerequisite, to meet ship's fix, bow to, the optimum requirement of energy consumption; (2) consider between boats and ships and hull and the hydrodynamic force disturbing influence between propelling unit.

3. the fan-shaped bow of drag suction dredger according to claim 1 sprays position control method, it is characterized in that: show that dynamic position control parameter comprises: pivot point is to the cross distance of dynamicpositioning point in swing process, bow spray back pressure and power managed modes, bow side direction speed on the ground, and represent larboard or starboard direction by arrow, obtain best stem to the sector region of permission search, distance benchmark between fulcrum and dynamicpositioning point, the speed on the ground of fulcrum, the historical position path of flight path, the thrust size of bow side thruster, direction and relative rotation speed, the angle of rake thrust size of stern, direction and relative rotation speed.

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