CN104199464A - Real-time environment optimum heading ship dynamic positioning control method based on environment estimation - Google Patents

Abstract

The invention relates to the field of dynamic positioning control, in particular to a real-time environment optimum heading ship dynamic positioning control method based on environment estimation. The method includes measuring the position and the heading of a ship through a measuring system; utilizing a Kalman filter to remove high frequency interference of wave and measurement noise of a measuring sensor and generated in the ship position and heading measuring process and transmit the obtained real position and heading information of the ship to a system PID controller; utilizing an environment estimation method to estimate external environment interference based on an environment optimum heading dynamic positioning controller and calculate the environment optimum heading; transmitting the optimum heading to a ship PID controller; utilizing the controller to transmit a command to a propeller to move the ship to the optimum heading position. By means of the method the optimum searching fastness is improved, the calculation amount is reduced, the execution efficiency of the controller is greatly improved, and abrasion to the propeller caused by frequent use is reduced.

Description

The optimum bow of a kind of real time environment of estimating based on environment is to marine power positioning control method

Technical field

The present invention relates to Dynamic Positioning Control System field, be specifically related to the optimum bow of a kind of real time environment of estimating based on environment to power positioning control method.

Background technology

Dynamically positioning (Dynamic Positioning is called for short DP) is a kind of localization method that can automatically keep without anchor system marine floating installation.

Along with the engineer operation activity of people in ocean is increasing, the energy that the dynamically positioning boats and ships of long-time running in ocean or equipment consume and the waste gas of discharge are very important.In recent years, scholar proposes multiplely to reduce discharging as the dynamic positioning of vessels control strategy of object to realize ship energy saving, comprises green power location, the optimum dynamically positioning of environment etc., and the optimum dynamically positioning of environment comprises again zero thruster control and zero yawing torque control etc.Fossen.T.I has proposed the concept (Weather Optimal Positioning Control=WOPC) of environment optimal location control for offshore operation system.The control target of environment optimal location control be make offshore operation system according to the variation of marine environment automatically adjust bow to, to reach best yawing angle value.The main feature of the method is exactly just can make boats and ships be operated in best yawing angle without any need for the measurement mechanism of environmental forces.Based on the thought of pendulum, then mainly draw the concept of the WOPC of Fossen.T.I proposition, Xie Xiaoying has designed optimum bow to controller in his Master's thesis environment optimal region power positioning control method research, but in the rapidity of optimizing, the aspects such as the precision of stability and optimizing also have very large shortcoming and in the design of zone location controller, the calculated amount of PREDICTIVE CONTROL is too large, and the real-time being easy to controlling exerts an influence.

This method is the optimum dynamically positioning of a kind of environment of estimating based on environment, is different from WOPC, zero thruster control and zero yawing torque control etc.In domestic and foreign literature, there is not adopting the optimum dynamically positioning strategy of environment of this method at present.

Summary of the invention

The object of this invention is to provide the optimum bow of a kind of computing environment in real time to, control boats and ships and realize the method for the optimum dynamically positioning of environment.

The object of the present invention is achieved like this:

(1) by measuring system measure the position of boats and ships and bow to;

(2) utilize Kalman filter to filter out the high frequency interference of wave and measuring sensor measuring vessel position and bow to the measurement noise producing in process, real the boats and ships that obtain position and bow are sent to system PID controller to information;

(3) based on the optimum bow of environment to Dynamic Positioning Control System device, with environment algorithm for estimating to external world environmental interference estimate, and computing environment optimum bow to;

(4) by the optimum bow calculating to sending to boats and ships PID controller:

(5) controller sends instruction to thruster, and boats and ships are moved to optimum bow to position.

In step (3), environment algorithm for estimating is:

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+K_0\mathrm{M\ν}$

estimating for environmental activity, is respectively longitudinal force, horizontal force and the yawing moment of making a concerted effort to boats and ships of environmental interference, K ₀be the symmetrical normal matrix of adjusting, β is middle auxiliary variable, and M is system inertia matrix, and ν is ship motion velocity vector,,

$\stackrel{\·}{\mathrm{\β}}=-K_0\mathrm{\β}-K_0(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+K_0\mathrm{M\ν})$

The estimated bias of environmental activity: τ _envfor making a concerted effort that actual environment disturbs, for estimating making a concerted effort of environmental interference, environmental activity is estimated differential be ${\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+K_{0}M\stackrel{\·}{\mathrm{\ν}}=K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}},{\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}.$

The optimum bow of step (3) environment is to being:

${\mathrm{\ψ}}_{\mathrm{opt}}=\mathrm{\ψ}+\mathrm{ac}\tan 2({\widehat{\mathrm{\τ}}}_{\mathrm{envY}},{\widehat{\mathrm{\τ}}}_{\mathrm{envX}})-\mathrm{sign}\left({\widehat{\mathrm{\τ}}}_{\mathrm{envY}}\right)*\mathrm{\π}$

ψ is the current bow of boats and ships to, ψ _optfor the optimum bow of environment to, represent that external environment is applied to the sign of the transverse force on boats and ships.

In step (5), more fresh target bow to time, ship target position is (x _d, y _d), and require the boats and ships moment to keep the optimum bow of environment to ψ=ψ _opt, the target location attitude of boats and ships is η=[x _d, y _d, ψ _opt] ^t.

The beneficial effect that the present invention has:

This method utilizes environment to estimate that computing method estimate environment bonding force, and calculates the direction of environment bonding force, and by optimum the boats and ships that calculate gained bow, to delivering to system PID controller, when ship bow is when with this opposite direction, boats and ships are subject to resistance minimum.The method has strengthened the rapidity of optimizing, has reduced calculated amount, and has greatly improved the execution efficiency of controller, the wearing and tearing that the frequent use of thruster brings are reduced, thereby in the angle of rake auxiliary lower accurately location of realizing, reduce energy consumption, realize the effect of energy-saving and emission-reduction.

Brief description of the drawings

Fig. 1 is the inventive method process flow diagram;

Fig. 2 is control principle drawing of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

The optimum bow of real time environment of estimating based on environment is to marine power positioning control method, the result that this control method is estimated according to environment, carry out the optimum bow of environment to calculating, and by certain control algolithm, boats and ships are carried out to accurate Dynamic Positioning Control System, make ship's fix to target location, and heading keep the optimum bow of environment to.

Step 1: by measuring system (sensor) measure the position of boats and ships and bow to;

Step 2: utilize Kalman filter to filter out the high frequency interference of wave and measuring sensor measuring vessel position and bow to the measurement noise producing in process, real the boats and ships that obtain position and bow are sent to system PID controller to information;

Step 3: based on the optimum bow of environment to Dynamic Positioning Control System device, with environment algorithm for estimating to external world environmental interference estimate, and computing environment optimum bow to;

Step 4: by the optimum bow calculating to sending to boats and ships PID controller;

Step 5: controller sends instruction to thruster, moves to optimum bow to position by boats and ships.

In step 3, the estimation computing formula of environmental activity is,

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+K_0\mathrm{M\ν}$

In formula, estimating for environmental activity, is respectively longitudinal force, horizontal force and the yawing moment of making a concerted effort to boats and ships of environmental interference.K ₀be the symmetrical normal matrix of adjusting of a setting, β is auxiliary variable in the middle of, and M is system inertia matrix, and ν is ship motion velocity vector, and computing formula is,

$\stackrel{\·}{\mathrm{\β}}=-K_0\mathrm{\β}-K_0(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+K_0\mathrm{M\ν})$

The estimated bias of definition environment effect: τ _envfor making a concerted effort that actual environment disturbs, for estimating making a concerted effort of environmental interference.Environmental activity is estimated differential be ${\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+K_{0}M\stackrel{\·}{\mathrm{\ν}}=K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}},$ So ${\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}$

The optimum bow of step 3 environment to computing formula be:

${\mathrm{\ψ}}_{\mathrm{opt}}=\mathrm{\ψ}+\mathrm{ac}\tan 2({\widehat{\mathrm{\τ}}}_{\mathrm{envY}},{\widehat{\mathrm{\τ}}}_{\mathrm{envX}})-\mathrm{sign}\left({\widehat{\mathrm{\τ}}}_{\mathrm{envY}}\right)*\mathrm{\π}$

ψ is the current bow of boats and ships to, ψ _optfor the optimum bow of environment to, represent that external environment is applied to the sign of the transverse force on boats and ships (from right to left for negative, from left to right for just).

In step 5, if more fresh target bow to, set ship target position for (x _d, y _d), and require the boats and ships moment to keep the optimum bow of environment to ψ=ψ _opt, the target location attitude of boats and ships is η=[x _d, y _d, ψ _opt] ^t.

Object of the present invention realizes as follows:

Step 1: by measuring system (sensor) measure the position of boats and ships and bow to;

Step 2: utilize Kalman filter to filter out the high frequency interference of wave and measuring sensor measuring vessel position and bow to the measurement noise producing in process, real the boats and ships that obtain position and bow are sent to system PID controller to information;

Step 3: based on the optimum bow of environment to Dynamic Positioning Control System device, with environment algorithm for estimating to external world environmental interference estimate, and computing environment optimum bow to;

Order for the estimation of environmental activity, its calculation expression is suc as formula shown in (1)

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+K_0\mathrm{M\ν}---\left(1\right)$

In formula, K ₀be the symmetrical normal matrix of adjusting of a setting, β is auxiliary variable in the middle of, and β is calculated and obtained by formula (2).

$\stackrel{\·}{\mathrm{\β}}=-K_0\mathrm{\β}-K_0(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+K_0\mathrm{M\ν})---\left(2\right)$

The estimated bias of definition environment effect:

${\widetilde{\mathrm{\τ}}}_{\mathrm{env}}={\mathrm{\τ}}_{\mathrm{env}}-{\widehat{\mathrm{\τ}}}_{\mathrm{env}}---\left(3\right)$

Environmental activity is estimated differential be

$\begin{array}{c}{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+K_{0}M\stackrel{\·}{\mathrm{\ν}}\\ =-K_0\mathrm{\β}-K_0(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+K_0\mathrm{M\ν})+K_0{\mathrm{MM}}^{-1}(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+{\mathrm{\τ}}_{\mathrm{env}})\\ =-K_0(\mathrm{\β}+K_0\mathrm{M\ν}-{\mathrm{\τ}}_{\mathrm{env}})\\ =K_0({\mathrm{\τ}}_{\mathrm{env}}-(\mathrm{\β}+K_0\mathrm{M\ν}))\\ =K_0({\mathrm{\τ}}_{\mathrm{env}}-{\widehat{\mathrm{\τ}}}_{\mathrm{env}})\\ =K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}\end{array}---\left(4\right)$

So

${\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}---\left(5\right)$

ψ is the current bow of boats and ships to, ψ _optfor the optimum bow of environment is to, ψ _optcalculate and represented by formula (6)

${\mathrm{\ψ}}_{\mathrm{opt}}=\mathrm{\ψ}+\mathrm{ac}\tan 2({\widehat{\mathrm{\τ}}}_{\mathrm{envY}},{\widehat{\mathrm{\τ}}}_{\mathrm{envX}})-\mathrm{sign}\left({\widehat{\mathrm{\τ}}}_{\mathrm{envY}}\right)*\mathrm{\π}---\left(6\right)$

In above formula, represent that external environment is applied to the sign of the transverse force on boats and ships (from right to left for negative, from left to right for just).

Step 4: by the optimum bow calculating to sending to boats and ships PID controller;

Step 5: controller sends instruction to thruster, moves to optimum bow to position by boats and ships;

In step 1, setting ship target position is (x _d, y _d), and require the boats and ships moment to keep the optimum bow of environment to ψ=ψ _opt, the target location attitude of boats and ships is η=[x _d, y _d, ψ _opt] ^t.

The controller of choosing suitable control algorithm design dynamically positioning boats and ships, carries out Dynamic Positioning Control System to boats and ships.At this, taking PID controller as example, PID controller is represented by formula:

$\mathrm{\τ}=K_P{\mathrm{\η}}_e+K_I\∫{\mathrm{\η}}_e\mathrm{dt}+K_D\frac{d{\mathrm{\η}}_e}{\mathrm{dt}}---\left(7\right)$

In formula, η _e=η _d-η.

Claims (4)

1. the optimum bow of real time environment of estimating based on environment, to a marine power positioning control method, is characterized in that:

(1) by measuring system measure the position of boats and ships and bow to;

(2) utilize Kalman filter to filter out the high frequency interference of wave and measuring sensor measuring vessel position and bow to the measurement noise producing in process, real the boats and ships that obtain position and bow are sent to system PID controller to information;

(3) based on the optimum bow of environment to Dynamic Positioning Control System device, with environment algorithm for estimating to external world environmental interference estimate, and computing environment optimum bow to;

(4) by the optimum bow calculating to sending to boats and ships PID controller:

(5) controller sends instruction to thruster, and boats and ships are moved to optimum bow to position.

2. the optimum bow of a kind of real time environment of estimating based on environment according to claim 1, to marine power positioning control method, is characterized in that: in step (3), environment algorithm for estimating is:

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+K_0\mathrm{M\ν}$

estimating for environmental activity, is respectively longitudinal force, horizontal force and the yawing moment of making a concerted effort to boats and ships of environmental interference, K ₀be the symmetrical normal matrix of adjusting, β is middle auxiliary variable, and M is system inertia matrix, and ν is ship motion velocity vector,

$\stackrel{\·}{\mathrm{\β}}=-K_0\mathrm{\β}-K_0(-D\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+K_0\mathrm{M\ν})$

The estimated bias of environmental activity: τ _envfor making a concerted effort that actual environment disturbs, for estimating making a concerted effort of environmental interference, environmental activity is estimated differential be ${\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+K_{0}M\stackrel{\·}{\mathrm{\ν}}=K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}},{\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-K_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}.$

3. the optimum bow of a kind of real time environment of estimating based on environment according to claim 1, to marine power positioning control method, is characterized in that: the optimum bow of step (3) environment is to being:

${\mathrm{\ψ}}_{\mathrm{opt}}=\mathrm{\ψ}+\mathrm{ac}\tan 2({\widehat{\mathrm{\τ}}}_{\mathrm{envY}},{\widehat{\mathrm{\τ}}}_{\mathrm{envX}})-\mathrm{sign}\left({\widehat{\mathrm{\τ}}}_{\mathrm{envY}}\right)*\mathrm{\π}$

ψ is the current bow of boats and ships to, ψ _optfor the optimum bow of environment to, represent that external environment is applied to the sign of the transverse force on boats and ships.

4. the optimum bow of a kind of real time environment of estimating based on environment according to claim 1, to marine power positioning control method, is characterized in that: in described step (5), more fresh target bow to time, ship target position is (x _d, y _d), and require the boats and ships moment to keep the optimum bow of environment to ψ=ψ _opt, the target location attitude of boats and ships is η=[x _d, y _d, ψ _opt] ^t.