CN103645642A - Operation simulation platform for ship dynamic positioning - Google Patents
Operation simulation platform for ship dynamic positioning Download PDFInfo
- Publication number
- CN103645642A CN103645642A CN201310602792.5A CN201310602792A CN103645642A CN 103645642 A CN103645642 A CN 103645642A CN 201310602792 A CN201310602792 A CN 201310602792A CN 103645642 A CN103645642 A CN 103645642A
- Authority
- CN
- China
- Prior art keywords
- dynamic positioning
- systems based
- positioning systems
- ship dynamic
- ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to an operation simulation platform for ship dynamic positioning. A ship dynamic positioning simulation platform is developed based on checking, verification and acceptance technologies of system modeling and simulating in allusion to the specific problem of the ship dynamic positioning system simulation platform, thereby accelerating the application of advanced control theories in the control field of a ship dynamic positioning system.
Description
Technical field
The present invention relates to a kind of operation emulation platform of dynamic positioning of vessels
Background technology
When utilizing tradition anchoring location, the own anchoring and mooring system of boats and ships itself provides convenience for its location, but anchoring positioning precision is inaccurate, mobility is poor, and the depth of water of shipping work has been subject to strict restriction, when deep water carries out operation, uses anchoring mode to locate and will become inconvenient and uneconomical.Dynamically positioning has well solved this problem, and the precision of dynamically positioning is very high, and maneuverability is good, and location is also convenient.Through constantly development, present dynamic positioning system is very complicated reliable, the boats and ships of many offshore operation have also been applied dynamic positioning system, when carrying out diving operation, diving tracking, offshore construction, marine detection, all need to use dynamic positioning system, namely, by predetermined object, precalculated position, boats and ships are positioned to control.Summary of the invention
The present invention is directed to this concrete problem of Ship Dynamic Positioning Systems Based emulation platform, check based on system modelling and emulation, checking and checking and accepting technology, develop a set of Ship Dynamic Positioning Systems Based emulation platform, accelerate the application of advanced control theory in Ship Dynamic Positioning Systems Based control field.
A kind of Ship Dynamic Positioning Systems Based emulation platform of the present invention mainly has following functions:
(1) foundation of Ship Dynamic Positioning Systems Based model and test.This analogue system provides the mathematical model of Ship Dynamic Positioning Systems Based, and user also can input the data of the diesel generator set of different size as required voluntarily.Native system can carry out towed cable emulation, Z-type experiment simulation, with the comparison of prototype testing data, and validity that just can test model.
(2) loading of control algolithm and test.Native system provides the conventional control modules such as PID control, adaptive control, fuzzy control; User only need be compiled into dynamic link libraries by self-designed control algolithm form in accordance with regulations, just can join in this platform.According to the difference of control algolithm, user can control emulation testing; Platform also provides one " event editor ", can facilitate user to carry out more complicated event simulation test.In test process, user can observe course, rudder angle, the isoparametric dynamic data of ship's speed and show curve, can to control algolithm, test, optimize and improve accordingly.
(3) preservation of emulated data.In test process, the important dynamic data of ship motion state can be preserved, be convenient to later further research application.
Technical scheme of the present invention is as follows:
The ultimate principle figure of Ship Dynamic Positioning Systems Based as shown in Figure 1.
Ship Dynamic Positioning Systems Based is by setting and the test module 1 of Ship Dynamic Positioning Systems Based model, the mathematical model module 3 of the loading of control algolithm and test module 2, Ship Dynamic Positioning Systems Based, and Ship Dynamic Positioning Systems Based curve display interface 4 four parts form.
The loading of the setting of Ship Dynamic Positioning Systems Based model and test module 1 and control algolithm and test module 2 carry out bidirectional data exchange with the mathematical model module 3 of Ship Dynamic Positioning Systems Based.The mathematical model module 3 one-way transmission data of Ship Dynamic Positioning Systems Based are to Ship Dynamic Positioning Systems Based curve display interface 4; Ship Dynamic Positioning Systems Based curve display interface 4 curve display interfaces 4 all can the setting of one-way transmission data to 1 Ship Dynamic Positioning Systems Based model and loading and the test module 2 of test module 1 and control algolithm simultaneously.Above-mentioned software module 1 to 4 use VC++ develops.
The principle of work of a kind of Ship Dynamic Positioning Systems Based of the present invention is:
The test of ship model: first according to test purpose and the test that requires the different settings by ship model and test module 1 to select suitable ship type, calculate control algolithm: after having set up effective Ship Dynamic Positioning Systems Based mathematical model module 3, just can carry out the test of control algolithm.First loading and the test module 2 by control algolithm loads the control algolithm that needs test, then form closed-loop control system with the mathematical model module 3 of Ship Dynamic Positioning Systems Based, by " event editor ", the conditions such as ship's navigation environment, ship turning point are arranged, then carry out ship motion and control emulation, simulation result is outputed to Ship Dynamic Positioning Systems Based curve display interface 4 simultaneously, the simulation results such as ultimate analysis steamer line, flight path and dynamic data, and judge the control characteristic of institute's Loading Control algorithm.
Go out ship parameter and be transferred in ship motion mathematical model module 3, then Ship Dynamic Positioning Systems Based module 3 is carried out boats and ships revolution experiment simulation, simulation result outputs to Ship Dynamic Positioning Systems Based display interface 4 simultaneously, the simulation experiment result and prototype testing data are compared, when turning circle course error is less than a captain, think that set up ship motion mathematical model is effectively, otherwise invalid.
Advantage of the present invention and beneficial effect are:
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of a kind of Ship Dynamic Positioning Systems Based of the present invention.
In figure: 1, the setting of ship model and test module, 2, loading and the test module of control algolithm, 3, the mathematical model module of Ship Dynamic Positioning Systems Based, 4, Ship Dynamic Positioning Systems Based curve display interface.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
Ship Dynamic Positioning Systems Based is by setting and the test module 1 of Ship Dynamic Positioning Systems Based model, the mathematical model module 3 of the loading of control algolithm and test module 2, Ship Dynamic Positioning Systems Based, and Ship Dynamic Positioning Systems Based curve display interface 4 four parts form.
One, design and the realization of the setting of Ship Dynamic Positioning Systems Based model and test module 1
1. the input of model important parameter
Analogue system realizes the access of data by " opening " and " preservation " button; The important parameter of model comprises boats and ships self parameter and ocean wave parameter; Parameter herein just can import in analogue system by clicking " parameter is confirmed correct " button.
2. modelling verification
Due to the difference of model, so checking time is divided into Norrbin model, two kinds of situations of Three Degree Of Freedom MMG model are carried out.But, because Norrbin responding model itself is a steady model, and in revolution experiment, main frame is all the operation of stand oil door conventionally, the whole revolution speed of a ship or plane in service is all more big changes, the scope that has exceeded model perturbation, so the revolution of carrying out based on Norrbin model experiment is divided into two kinds, a kind of is to determine the revolution of parameter N orrbin model, a kind of is the revolution of variable element Norrbin model, in variable element Norrbin model, the parameter that changes Norrbin model by time slice is similar to the reduction of speed in boats and ships revolution.
Two, design and the realization of the loading of control algolithm and test module 2
How facilitating the algorithm that user's rapid loading is new, is an important content of analogue system of the present invention.If the control algolithm of system still needs the mode of user oneself by adding code in algorithm write-in program, this is obviously cannot be gratifying, and native system adopts and carrys out loading algorithm by the mode of dynamic link library (DLL).The title of dynamic link library can be appointed and get according to the content of writing algorithm, but in dynamic link library, must comprise the structure of a ShipState by name, simultaneously at called after Controller() function in write control algolithm.Algorithm is by defining shape as the pointer m_PShipState of ShipState * m_PShipState form, come and program swap data, actual heading or flight path that algorithm needs, the data of set course or flight path all can obtain by pointer m_PShipState, the intermediate variable that algorithm need to be stored is placed in ComputeStatePara array, and the controlled quentity controlled variable finally calculating is kept in variable R udderD.
Aspect control algolithm test, the present invention proposes two kinds of methods of event simulation test of heuristics, is defined as follows
Event simulation test of heuristics: be set up analogue system after, under certain imposing a condition, on time shaft, research controlled device in carrying out the process of a series of activities, the control effect of control algolithm under multi-signal.
For event simulation test of heuristics native system, designed an event editor
.if main ships course is controlled, flight path is controlled, the main activities that affects so the boats and ships of ship motion control is exactly that main frame is handled, and extraneous major effect is exactly wind, wave, flow disturbance variation, designed " event editor " be one and facilitate user, as long as adjust the dialog box that several parameters just can a series of activities of emulation reality ship.By the mode of " event editor ", user can realize " event simulation test of heuristics " rapidly, and in whole event, engine speed and wind, wave, stream external interference can repeatedly change.Although input content increases, the effect of emulation, closer to actual conditions, has higher confidence level like this.
Claims (1)
1. Ship Dynamic Positioning Systems Based is by setting and the test module 1 of Ship Dynamic Positioning Systems Based model, the mathematical model module 3 of the loading of control algolithm and test module 2, Ship Dynamic Positioning Systems Based, and Ship Dynamic Positioning Systems Based curve display interface 4 four parts form; The loading of the setting of Ship Dynamic Positioning Systems Based model and test module 1 and control algolithm and test module 2 carry out bidirectional data exchange with the mathematical model module 3 of Ship Dynamic Positioning Systems Based; The mathematical model module 3 one-way transmission data of Ship Dynamic Positioning Systems Based are to Ship Dynamic Positioning Systems Based curve display interface 4; Simultaneously Ship Dynamic Positioning Systems Based curve display interface 4 curve display interfaces 4 all can the setting of one-way transmission data to 1 Ship Dynamic Positioning Systems Based model and loading and the test module 2 of test module 1 and control algolithm; Above-mentioned software module 1 to 4 use VC++ develops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310602792.5A CN103645642A (en) | 2013-11-25 | 2013-11-25 | Operation simulation platform for ship dynamic positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310602792.5A CN103645642A (en) | 2013-11-25 | 2013-11-25 | Operation simulation platform for ship dynamic positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103645642A true CN103645642A (en) | 2014-03-19 |
Family
ID=50250874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310602792.5A Pending CN103645642A (en) | 2013-11-25 | 2013-11-25 | Operation simulation platform for ship dynamic positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103645642A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104090497A (en) * | 2014-07-23 | 2014-10-08 | 大连海事大学 | Power positioning system simulation platform used for ocean engineering field and working method thereof |
| CN104267606A (en) * | 2014-10-24 | 2015-01-07 | 大连海事大学 | Hardware-in-loop test simulator for dynamic positioning control system and operating method of test simulator |
| CN104483845B (en) * | 2014-11-21 | 2017-01-11 | 大连海事大学 | Ship autopilot algorithm testing simulation system |
| CN107015485A (en) * | 2017-03-28 | 2017-08-04 | 武汉理工大学 | A kind of dynamic positioning system semi-physical emulation platform and method based on semi-submerged ship |
-
2013
- 2013-11-25 CN CN201310602792.5A patent/CN103645642A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104090497A (en) * | 2014-07-23 | 2014-10-08 | 大连海事大学 | Power positioning system simulation platform used for ocean engineering field and working method thereof |
| CN104090497B (en) * | 2014-07-23 | 2016-07-06 | 大连海事大学 | Dynamic positioning system analogue system and method for work thereof for ocean engineering field |
| CN104267606A (en) * | 2014-10-24 | 2015-01-07 | 大连海事大学 | Hardware-in-loop test simulator for dynamic positioning control system and operating method of test simulator |
| CN104267606B (en) * | 2014-10-24 | 2016-08-17 | 大连海事大学 | A kind of power-positioning control system hardware-in-the-loop test emulator and method of work thereof |
| CN104483845B (en) * | 2014-11-21 | 2017-01-11 | 大连海事大学 | Ship autopilot algorithm testing simulation system |
| CN107015485A (en) * | 2017-03-28 | 2017-08-04 | 武汉理工大学 | A kind of dynamic positioning system semi-physical emulation platform and method based on semi-submerged ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100583105C (en) | Ship movement control algorithm test and emulation system | |
| CN103576694B (en) | Semi-physical simulation system of dynamic positioning ship | |
| CN108897322B (en) | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method | |
| CN104090497B (en) | Dynamic positioning system analogue system and method for work thereof for ocean engineering field | |
| CN104483845B (en) | Ship autopilot algorithm testing simulation system | |
| Heins et al. | Design and validation of an unmanned surface vehicle simulation model | |
| CN104658368A (en) | Ship steering simulator and simulation method | |
| CN103645642A (en) | Operation simulation platform for ship dynamic positioning | |
| CN104714418A (en) | Semi-physical simulation system for testing control performance of unmanned surface vessel | |
| CN104142626B (en) | Ship dynamic positioning control method based on inverse system and internal model control | |
| Martelli et al. | The use of computational fluid dynamic technique in ship control design | |
| Li et al. | A study on dynamic trim optimization of VLCC oil tanker in wind and waves | |
| CN113933016B (en) | Wind tunnel test device and method for simulating floating type wind turbine generator movement response | |
| CN111159959B (en) | Intelligent ship motion simulation method based on Simulink and Fluent | |
| Mu et al. | Time-varying encounter angle trajectory tracking control of unmanned surface vehicle based on wave modeling | |
| Wang et al. | An integrated dynamic modeling method for underwater vehicle with hull, propeller and rudder | |
| Thein | Practical source code for ship motions time domain numerical analysis and its mobile device application | |
| Huijgens | Hardware in the loop emulation of ship propulsion systems at model scale | |
| Diwale et al. | Optimization of an airborne wind energy system using constrained gaussian processes | |
| Sun et al. | A new inertial measurement method of ship dynamic deformation | |
| Korpus | Performance prediction without empiricism: A rans-based vpp and design optimization capability | |
| Huijgens et al. | Propeller-engine interaction in a dynamic model scale environment | |
| Zhang | The study of 6-DOF motion simulation platform for passenger ship | |
| CN105526948B (en) | A kind of method and system of marine navigator closed test verification | |
| Richter et al. | Towards an implementation for offshore operation simulations |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140319 |