CN104199464B

CN104199464B - Real-time environment optimum heading ship dynamic positioning control method based on environment estimation

Info

Publication number: CN104199464B
Application number: CN201410406945.3A
Authority: CN
Inventors: 王元慧; 王修强; 董胜伟; 丁福光; 庹玉龙; 窦向会; 王成龙; 魏飞飞; 冯华; 陶顺行
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2014-08-19
Filing date: 2014-08-19
Publication date: 2017-01-18
Anticipated expiration: 2034-08-19
Also published as: CN104199464A

Abstract

The invention relates to the field of dynamic positioning control, in particular to a real-time environment optimal heading dynamic positioning control method based on environment estimation. The invention includes: measuring the position and heading of the ship through the measurement system; using the Kalman filter to filter out the high-frequency interference of waves and the measurement noise generated by the measurement sensor in the process of measuring the position and heading of the ship, and the obtained ship The real position and heading information is sent to the system PID controller; based on the environment optimal heading dynamic positioning controller, the environment estimation algorithm is used to estimate the external environment interference, and the environment optimal heading is calculated; the calculated optimal heading The heading is sent to the PID controller of the ship: the controller sends instructions to the thrusters to move the ship to the optimal heading position. This method enhances the speed of optimization, reduces the amount of calculation, and greatly improves the execution efficiency of the controller, reducing the wear and tear caused by frequent use of the propeller.

Description

A real-time environment optimal heading ship dynamic positioning control based on environment estimation method

技术领域technical field

本发明涉及动力定位控制领域，具体涉及一种基于环境估计的实时环境最优艏向动力定位控制方法。The invention relates to the field of dynamic positioning control, in particular to a real-time environment optimal heading dynamic positioning control method based on environment estimation.

背景技术Background technique

动力定位(Dynamic Positioning，简称DP)，是一种可以不用锚系而自动保持海上浮动装置的定位方法。Dynamic Positioning (DP for short) is a positioning method that can automatically maintain floating devices on the sea without mooring.

随着人们在海洋中的工程作业活动日益增多，长期运行在海洋中的动力定位船舶或设备所消耗的能量与排放的废气不可忽视。近年来，学者提出多种以实现船舶节能减排为目的的船舶动力定位控制策略，包括绿色动力定位、环境最优动力定位等，环境最优动力定位又包括零侧推控制与零艏摇转矩控制等。Fossen.T.I针对海上作业系统提出了环境最优位置控制的概念(Weather Optimal Positioning Control＝WOPC)。环境最优位置控制的控制目标是使海上作业系统根据海洋环境的变化自动调整艏向，以达到最佳艏摇角度值。该方法的最主要特点就是不需要任何环境力的测量装置就能够使船舶工作在最佳艏摇角度。基于钟摆的思想，然后主要吸取Fossen.T.I提出的WOPC的概念，谢笑颖在他的硕士论文环境最优区域动力定位控制方法研究中设计了最优艏向控制器，但是在寻优的快速性，稳定性和寻优的精度等方面还有很大欠缺而且在区域定位控制器的设计中，预测控制的计算量太大，很容易对控制的实时性产生影响。With the increase of people's engineering operations in the ocean, the energy consumed and exhaust gas emitted by dynamic positioning ships or equipment operating in the ocean for a long time cannot be ignored. In recent years, scholars have proposed a variety of ship dynamic positioning control strategies for the purpose of energy saving and emission reduction, including green dynamic positioning, environment-optimized dynamic positioning, etc., and environment-optimized dynamic positioning includes zero side thrust control and zero bow roll control. torque control etc. Fossen.T.I proposed the concept of environment optimal position control (Weather Optimal Positioning Control=WOPC) for the offshore operation system. The control goal of the environment optimal position control is to make the offshore operation system automatically adjust the heading according to the change of the marine environment, so as to achieve the optimal yaw angle value. The main feature of this method is that it can make the ship work at the optimal yaw angle without any measuring device of environmental force. Based on the idea of the pendulum, and then mainly absorbing the concept of WOPC proposed by Fossen.T.I, Xie Xiaoying designed the optimal heading controller in his master thesis research on dynamic positioning control methods in the optimal area of the environment, but in terms of the speed of optimization, There are still great deficiencies in stability and optimization accuracy, and in the design of regional positioning controllers, the amount of calculation for predictive control is too large, which can easily affect the real-time performance of the control.

本方法是一种基于环境估计的环境最优动力定位，区别于WOPC、零侧推控制与零艏摇转矩控制等。目前国内外文献中，未出现过采用本方法的环境最优动力定位策略。This method is an environment optimal dynamic positioning based on environment estimation, which is different from WOPC, zero side thrust control and zero yaw torque control. At present, in the literature at home and abroad, there is no environment optimal dynamic positioning strategy using this method.

发明内容Contents of the invention

本发明的目的是提供一种实时计算环境最优艏向，控制船舶实现环境最优动力定位的方法。The purpose of the present invention is to provide a method for calculating the optimal heading of the environment in real time and controlling the ship to realize the optimal dynamic positioning of the environment.

本发明的目的是这样实现的：The purpose of the present invention is achieved like this:

(1)通过测量系统测量船舶的位置和艏向；(1) Measure the position and heading of the ship through the measurement system;

(2)利用卡尔曼滤波器滤除掉波浪的高频干扰和量测传感器在测量船舶位置和艏向过程中产生的测量噪声，将得到的船舶真实的位置和艏向信息发送给系统PID控制器；(2) Use the Kalman filter to filter out the high-frequency interference of the waves and the measurement noise generated by the measurement sensor in the process of measuring the ship's position and heading, and send the obtained real position and heading information of the ship to the system PID control device;

(3)基于环境最优艏向动力定位控制器,用环境估计算法对外界环境干扰进行估计,并计算环境最优艏向；(3) Based on the environment optimal heading dynamic positioning controller, the environment estimation algorithm is used to estimate the external environment disturbance, and calculate the environment optimal heading;

(4)将计算得到的最优艏向发送给船舶PID控制器：(4) Send the calculated optimal heading to the ship PID controller:

(5)控制器向推进器发送指令,将船舶移动到最优艏向位置。(5) The controller sends commands to the thrusters to move the ship to the optimal heading position.

步骤(3)中环境估计算法为：The environment estimation algorithm in step (3) is:

${\overset{^^}{τ τ}}_{env env} ((t t)) = = β β + + {K K}_{00} Mν Mν$

为环境作用估计，分别是环境干扰的合力对船舶的纵向作用力、横向作用力和艏摇力矩，K₀是整定对称常矩阵，β是中间辅助变量，M是系统惯性矩阵，ν是船舶运动速度向量，， is the estimation of environmental effects, which are the longitudinal force, lateral force and yaw moment of the resultant force of environmental disturbance on the ship, K ₀ is the set symmetric constant matrix, β is the intermediate auxiliary variable, M is the system inertia matrix, ν is the ship motion velocity vector,

$\overset{\cdot \cdot}{β β} = = - - {K K}_{00} β β - - {K K}_{00} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {K K}_{00} Mν Mν))$

环境作用的估计偏差：τ_env为实际环境干扰的合力，为估计环境干扰的合力，环境作用估计的微分为 ${\overset{\cdot}{\hat{τ}}}_{env} = \overset{\cdot}{β} + K_{0} M \overset{\cdot}{ν} = K_{0} {\tilde{τ}}_{env}, {\overset{\cdot}{\tilde{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - {\overset{\cdot}{\hat{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - K_{0} {\tilde{τ}}_{env} .$ Estimated bias for environmental effects: τ _env is the resultant force of actual environmental disturbance, In order to estimate the resultant force of environmental disturbance, the environmental effect estimation The differential is ${\overset{\cdot}{\hat{τ}}}_{env} = \overset{&Center Dot;}{β} + K_{0} m \overset{\cdot}{ν} = K_{0} {\tilde{τ}}_{env}, {\overset{&Center Dot;}{\tilde{τ}}}_{env} = {\overset{&Center Dot;}{τ}}_{env} - {\overset{\cdot}{\hat{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - K_{0} {\tilde{τ}}_{env} .$

步骤(3)环境最优艏向为：Step (3) The optimal heading of the environment is:

${ψ ψ}_{opt opt} = = ψ ψ + + ac ac tan the tan 22 (({\overset{^^}{τ τ}}_{envY envY},, {\overset{^^}{τ τ}}_{envX envX})) - - sign sign (({\overset{^^}{τ τ}}_{envY envY})) * * π π$

ψ为船舶当前艏向，ψ_opt为环境最优艏向，表示外界环境作用到船舶上的横向力的正负号。ψ is the current heading of the ship, ψ _opt is the optimal heading of the environment, Indicates the sign of the lateral force acting on the ship from the external environment.

步骤(5)中，更新目标艏向时，船舶目标位置为(x_d,y_d)，并要求船舶时刻保持环境最优艏向ψ＝ψ_opt，即船舶的目标位置姿态为η＝[x_d,y_d,ψ_opt]^T。In step (5), when updating the target heading, the target position of the ship is (x _d , y _d ), and the ship is required to maintain the optimal heading ψ=ψ _opt at all times, that is, the target position and attitude of the ship is η=[x _d ,y _d ,ψ _opt ] ^T .

本发明具有的有益效果：The beneficial effect that the present invention has:

本方法利用环境估计计算方法估计出环境合外力，并计算出环境合外力的方向，将计算所得的船舶最优艏向送至系统PID控制器，当船舶艏向与该方向相反时，船舶受阻力最小。此方法增强了寻优的快速性，降低了计算量，而且大大提高了控制器的执行效率，降低了推进器频繁使用带来的磨损，从而在推进器的辅助下实现精确定位，减少能耗，实现节能减排的效果。This method uses the environment estimation calculation method to estimate the combined external force of the environment, and calculates the direction of the combined external force of the environment, and sends the calculated optimal heading of the ship to the system PID controller. When the heading of the ship is opposite to the direction, the ship is blocked The force is minimal. This method enhances the speed of optimization, reduces the amount of calculation, and greatly improves the execution efficiency of the controller, reduces the wear and tear caused by the frequent use of the thruster, thereby achieving precise positioning with the assistance of the thruster and reducing energy consumption , to achieve the effect of energy saving and emission reduction.

附图说明Description of drawings

图1为本发明方法流程图；Fig. 1 is a flow chart of the method of the present invention;

图2为本发明控制原理图。Fig. 2 is a control schematic diagram of the present invention.

具体实施方式detailed description

下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.

基于环境估计的实时环境最优艏向船舶动力定位控制方法，该控制方法根据环境估计的结果，进行环境最优艏向的计算，并且通过一定控制算法对船舶进行精确动力定位控制，使船舶定位到目标位置，并且艏向保持在环境最优艏向。A real-time environmental optimal heading ship dynamic positioning control method based on environmental estimation. This control method calculates the optimal heading of the environment according to the results of environmental estimation, and performs precise dynamic positioning control on the ship through a certain control algorithm to make the ship positioning to the target position, and the heading is maintained at the optimal heading for the environment.

步骤1:通过测量系统(传感器)测量船舶的位置和艏向；Step 1: measure the position and heading of the ship by the measurement system (sensor);

步骤2:利用卡尔曼滤波器滤除掉波浪的高频干扰和量测传感器在测量船舶位置和艏向过程中产生的测量噪声，将得到的船舶真实的位置和艏向信息发送给系统PID控制器；Step 2: Use the Kalman filter to filter out the high-frequency interference of the waves and the measurement noise generated by the measurement sensor in the process of measuring the ship's position and heading, and send the obtained ship's real position and heading information to the system PID control device;

步骤3:基于环境最优艏向动力定位控制器,用环境估计算法对外界环境干扰进行估计,并计算环境最优艏向；Step 3: based on the environment optimal heading dynamic positioning controller, use the environment estimation algorithm to estimate the external environment disturbance, and calculate the environment optimal heading;

步骤4:将计算得到的最优艏向发送给船舶PID控制器；Step 4: the optimal heading calculated is sent to the ship PID controller;

步骤5:控制器向推进器发送指令,将船舶移动到最优艏向位置。Step 5: The controller sends commands to the thrusters to move the ship to the optimal heading position.

步骤3中环境作用的估计计算公式为，The calculation formula for the estimation of environmental effects in step 3 is,

${\overset{^^}{τ τ}}_{env env} ((t t)) = = β β + + {K K}_{00} Mν Mν$

式中，为环境作用估计，分别是环境干扰的合力对船舶的纵向作用力、横向作用力和艏摇力矩。K₀是一个设定的整定对称常矩阵，β是一个中间辅助变量，M是系统惯性矩阵，ν是船舶运动速度向量，计算公式为，In the formula, is the estimation of environmental effects, which are the longitudinal force, lateral force and yaw moment of the resultant force of environmental disturbance on the ship. K ₀ is a set tuning symmetric constant matrix, β is an intermediate auxiliary variable, M is the system inertia matrix, ν is the ship motion velocity vector, and the calculation formula is,

$\overset{\cdot &Center Dot;}{β β} = = - - {K K}_{00} β β - - {K K}_{00} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {K K}_{00} Mν Mν))$

定义环境作用的估计偏差：τ_env为实际环境干扰的合力，为估计环境干扰的合力。环境作用估计的微分为 ${\overset{\cdot}{\hat{τ}}}_{env} = \overset{\cdot}{β} + K_{0} M \overset{\cdot}{ν} = K_{0} {\tilde{τ}}_{env},$ 所以 ${\overset{\cdot}{\tilde{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - {\overset{\cdot}{\hat{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - K_{0} {\tilde{τ}}_{env}$ Define the estimated bias for the environmental effect: τ _env is the resultant force of actual environmental disturbance, In order to estimate the resultant force of environmental disturbance. Estimation of Environmental Effects The differential is ${\overset{&Center Dot;}{\hat{τ}}}_{env} = \overset{&Center Dot;}{β} + K_{0} m \overset{&Center Dot;}{ν} = K_{0} {\tilde{τ}}_{env},$ so ${\overset{&Center Dot;}{\tilde{τ}}}_{env} = {\overset{&Center Dot;}{τ}}_{env} - {\overset{&Center Dot;}{\hat{τ}}}_{env} = {\overset{\cdot}{τ}}_{env} - K_{0} {\tilde{τ}}_{env}$

步骤3环境最优艏向的计算公式为：The formula for calculating the optimal heading in the environment in step 3 is:

ψ为船舶当前艏向，ψ_opt为环境最优艏向，表示外界环境作用到船舶上的横向力的正负号(从右向左为负，从左向右为正)。ψ is the current heading of the ship, ψ _opt is the optimal heading of the environment, Indicates the sign of the lateral force acting on the ship from the external environment (negative from right to left, positive from left to right).

步骤5中，若要更新目标艏向，则设定船舶目标位置为(x_d,y_d)，并要求船舶时刻保持环境最优艏向ψ＝ψ_opt，即船舶的目标位置姿态为η＝[x_d,y_d,ψ_opt]^T。In step 5, if the target heading is to be updated, the target position of the ship is set to (x _d , y _d ), and the ship is required to maintain the optimal heading ψ=ψ _opt at all times, that is, the target position and attitude of the ship is η= [x _d ,y _d ,ψ _opt ] ^T .

本发明的目的按如下步骤实现：The object of the present invention is realized according to the following steps:

令为环境作用的估计，其计算表达式如式(1)所示make is the estimate of the environmental effect, and its calculation expression is shown in formula (1)

${\overset{^^}{τ τ}}_{env env} ((t t)) = = β β + + {K K}_{00} Mν Mν - - - - - - ((11))$

式中，K₀是一个设定的整定对称常矩阵，β是一个中间辅助变量，β由式(2)计算获得。In the formula, K ₀ is a set tuning symmetric constant matrix, β is an intermediate auxiliary variable, and β is calculated by formula (2).

$\overset{\cdot &Center Dot;}{β β} = = - - {K K}_{00} β β - - {K K}_{00} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {K K}_{00} Mν Mν)) - - - - - - ((22))$

定义环境作用的估计偏差：Define the estimated bias for the environmental effect:

${\overset{~ ~}{τ τ}}_{env env} = = {τ τ}_{env env} - - {\overset{^^}{τ τ}}_{env env} - - - - - - ((33))$

环境作用估计的微分为Estimation of Environmental Effects The differential is

$\begin{matrix} {\overset{\cdot &Center Dot;}{\overset{^^}{τ τ}}}_{env env} = = \overset{\cdot &Center Dot;}{β β} + + {K K}_{00} M m \overset{\cdot &Center Dot;}{ν ν} \\ = = - - {K K}_{00} β β - - {K K}_{00} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {K K}_{00} Mν Mν)) + + {K K}_{00} {MM MM}^{- - 11} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {τ τ}_{env env})) \\ = = - - {K K}_{00} ((β β + + {K K}_{00} Mν Mν - - {τ τ}_{env env})) \\ = = {K K}_{00} (({τ τ}_{env env} - - ((β β + + {K K}_{00} Mν Mν)))) \\ = = {K K}_{00} (({τ τ}_{env env} - - {\overset{^^}{τ τ}}_{env env})) \\ = = {K K}_{00} {\overset{~ ~}{τ τ}}_{env env} \end{matrix} - - - - - - ((44))$

所以so

${\overset{\cdot &Center Dot;}{\overset{~ ~}{τ τ}}}_{env env} = = {\overset{\cdot &Center Dot;}{τ τ}}_{env env} - - {\overset{\cdot &Center Dot;}{\overset{^^}{τ τ}}}_{env env} = = {\overset{\cdot &Center Dot;}{τ τ}}_{env env} - - {K K}_{00} {\overset{~ ~}{τ τ}}_{env env} - - - - - - ((55))$

ψ为船舶当前艏向，ψ_opt为环境最优艏向，则ψ_opt计算由公式(6)表示ψ is the current heading of the ship, and ψ _opt is the optimal heading of the environment, then the calculation of ψ _opt is expressed by formula (6)

${ψ ψ}_{opt opt} = = ψ ψ + + ac ac tan the tan 22 (({\overset{^^}{τ τ}}_{envY envY},, {\overset{^^}{τ τ}}_{envX envX})) - - sign sign (({\overset{^^}{τ τ}}_{envY envY})) * * π π - - - - - - ((66))$

上式中，表示外界环境作用到船舶上的横向力的正负号(从右向左为负，从左向右为正)。In the above formula, Indicates the sign of the lateral force acting on the ship from the external environment (negative from right to left, positive from left to right).

步骤5:控制器向推进器发送指令,将船舶移动到最优艏向位置；Step 5: the controller sends an instruction to the thruster to move the ship to the optimal heading position;

步骤1中，设定船舶目标位置为(x_d,y_d)，并要求船舶时刻保持环境最优艏向ψ＝ψ_opt，即船舶的目标位置姿态为η＝[x_d,y_d,ψ_opt]^T。In step 1, the target position of the ship is set as (x _d , y _d ), and the ship is required to maintain the optimal heading ψ=ψ _opt at all times, that is, the target position and attitude of the ship is η=[x _d ,y _d ,ψ _opt ] ^T .

选取合适的控制算法设计动力定位船舶的控制器，对船舶进行动力定位控制。在此，以PID控制器为例，PID控制器由式表示：Select the appropriate control algorithm to design the controller of the dynamic positioning ship, and carry out dynamic positioning control on the ship. Here, taking the PID controller as an example, the PID controller is expressed by the formula:

$τ τ = = {K K}_{P P} {η η}_{e e} + + {K K}_{I I} &Integral; &Integral; {η η}_{e e} dt dt + + {K K}_{D D.} \frac{d d {η η}_{e e}}{dt dt} - - - - - - ((77))$

式中，η_e＝η_d-η。In the formula, η _e =η _d -η.

Claims

1. a real-time environment optimal heading ship dynamic positioning control method based on environment estimation, it is characterized in that, described control method comprises the steps:

(1) Measure the position and heading of the ship through the measurement system;

(2) Use the Kalman filter to filter out the high-frequency interference of the waves and the measurement noise generated by the measurement sensor in the process of measuring the ship's position and heading, and send the obtained ship's real position and heading information to the system PID control device;

(3) Based on the environment optimal heading dynamic positioning PID controller, the environment estimation algorithm is used to estimate the external environment disturbance, and calculate the environment optimal heading;

(4) Send the calculated optimal heading to the ship PID controller:

(5) The controller sends instructions to the thrusters to move the ship to the optimal heading position;

The environment estimation algorithm in step (3) is:

{\overset{^^}{τ τ}}_{e e n no v v} ((t t)) = = β β + + {K K}_{00} M m ν ν

is the estimation of environmental effects, which are the longitudinal force, lateral force and yaw moment of the resultant force of environmental disturbance on the ship, K ₀ is the set symmetric constant matrix, β is the intermediate auxiliary variable, M is the system inertia matrix, ν is the ship motion velocity vector,

\overset{\cdot \cdot}{β β} = = - - {K K}_{00} β β - - {K K}_{00} ((- - D D. ((ν ν)) ν ν - - μ μ + + τ τ + + {K K}_{00} M m ν ν))

Estimated bias for environmental effects: τ _env is the resultant force of actual environmental disturbance, In order to estimate the resultant force of environmental disturbance, the environmental effect estimation The differential is

Among them, D(v) is the linear hydrodynamic matrix of ship motion velocity vector, μ is the weight parameter of heading dynamic positioning PID controller, and τ is the control vector of PID controller.

2. A kind of real-time environment optimal heading ship dynamic positioning control method based on environment estimation according to claim 1, characterized in that: step (3) environment optimal heading is:

{ψ ψ}_{o o p p t t} = = ψ ψ + + a a c c t t a a n no 22 (({\overset{^^}{τ τ}}_{e e n no v v Y Y},, {\overset{^^}{τ τ}}_{e e n no v v X x})) - - s the s i i g g n no (({\overset{^^}{τ τ}}_{e e n no v v Y Y})) * * π π

ψ is the current heading of the ship, ψ _opt is the optimal heading of the environment, Indicates the sign of the lateral force acting on the ship from the external environment, Respectively, the resultant force of environmental disturbance acts on the ship laterally and longitudinally, express yes Take the tangent and then take the absolute value.

3. A kind of real-time environment optimal heading ship dynamic positioning control method based on environment estimation according to claim 1, characterized in that: in the step (5), when updating the target heading, the target position of the ship is ( x _d ,y _d ), and the ship is required to maintain the optimal heading of the environment at all times ψ=ψ _opt , where ψ is the current heading of the ship, and ψ _opt is the optimal heading of the environment, that is, the target position and attitude of the ship is η=[x _d ,y _d ,ψ _opt ] ^T .