CN104199464B - 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

A kind of real time environment optimum bow based on environment estimation is to dynamic positioning of vessels control Method

Technical field

The present invention relates to Dynamic Positioning Control System field and in particular to a kind of based on environment estimation real time environment optimum bow to Power positioning control method.

Background technology

Dynamic positioning (dynamic positioning, abbreviation dp), is that one kind can automatically keep marine without anchor system The localization method of floating installation.

Increasing with engineer operation activity in ocean for the people, dynamic positioning ship in ocean for the longtime running Or the energy that consumed of equipment is very important with the waste gas of discharge.In recent years, scholar's proposition is multiple is reduced discharging with realizing ship energy saving For the purpose of dynamic positioning of vessels control strategy, including green power positioning, environment optimum dynamic positioning etc., environment optimum power Positioning includes zero side again and pushes away control and zero yawing direct torque etc..Fossen.t.i proposes environment for operation on the sea system The concept (weather optimal positioning control=wopc) of excellent position control.Environment optimal location controls Control targe be the change adjust automatically bow making operation on the sea system according to marine environment to reach optimal yawing angle Value.The main feature of the method is exactly not need the measurement apparatus of any environmental forces just can make vessel operation in optimal yawing Angle.Based on the thought of pendulum, then mainly draw the concept of the wopc that fossen.t.i proposes, Xie Xiaoying discusses in his master Optimum bow is devised to controller in civilian environment optimal region power positioning control method research, but the rapidity in optimizing, The aspects such as the precision of stability and optimizing are also very big to be short of and in the design of zone location controller, the meter of PREDICTIVE CONTROL Calculation amount is too big to be affected it is easy to produce on the real-time controlling.

This method is a kind of optimum dynamic positioning of the environment based on environment estimation, is different from wopc, zero side pushes away control and zero Yawing direct torque etc..At present in domestic and foreign literature, the environment optimum dynamic positioning strategy using this method did not occurred.

Content of the invention

It is an object of the invention to provide a kind of real time computing environment optimum bow is to it is fixed that environment optimum power realized by control ship The method of position.

The object of the present invention is achieved like this:

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

(2) filter out the High-frequency Interference of wave using Kalman filter and measuring sensor is measuring vessel position and bow To during produce measurement noise, real for the ship obtaining position and bow are sent to system pid controller to information；

(3) it is based on environment optimum bow to Dynamic Positioning Control System device, environmental disturbances are estimated to external world with environment algorithm for estimating Meter, and computing environment optimum bow to；

(4) by calculated optimum bow to being sent to ship pid controller:

(5) controller sends instruction to propeller, and ship is moved to optimum bow to position.

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

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+k_0\mathrm{m\ν}$

Estimate for environmental activity, be that the longitudinal direction to ship of making a concerted effort of environmental disturbances is made respectively Firmly, horizontal force and yawing moment, k₀It is often matrix of adjusting symmetrically, β is middle auxiliary variable, and m is system inertia matrix, ν is ship movement 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 actual environment interference make a concerted effort,For estimating making a concerted effort of environmental disturbances, environmental activity is estimatedDifferential be ${\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+k_{0}m\stackrel{\·}{\mathrm{\ν}}=k_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}},{\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-k_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}.$

Step (3) environment optimum bow to for:

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

ψ is the current bow of ship to ψ_optFor environment optimum bow to,Represent that external environment is applied on ship The sign of cross force.

In step (5), more fresh target bow to when, ship target position be (x_d,y_d), and require the ship moment to keep environment Optimum bow is to ψ=ψ_opt, that is, the target location attitude of ship is η=[x_d,y_d,ψ_opt]^t.

The invention has the benefit that

Using environment, this method estimates that computational methods estimate environment bonding force, and calculate the direction of environment bonding force, The ship optimum bow of gained will be calculated to delivering to system pid controller, when ship bow to contrary with the direction when, ship is subject to resistance Minimum.The method enhances the rapidity of optimizing, reduces amount of calculation, and substantially increases the execution efficiency of controller, fall Low propeller, frequently using the abrasion bringing, thus realizing being accurately positioned under angle of rake auxiliary, reduces energy consumption, realizes saving The effect that can reduce discharging.

Brief description

Fig. 1 is the inventive method flow chart；

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

Specific embodiment

The invention will be further described below in conjunction with the accompanying drawings.

, to marine power positioning control method, this control method is according to environment for real time environment optimum bow based on environment estimation The result estimated, carry out environment optimum bow to calculating, and accurate kinetic positioning is carried out to ship by certain control algolithm Control, make ship's fix to target location, and bow to be maintained at environment optimum bow to.

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

Step 2: filter out the High-frequency Interference of wave using Kalman filter and measuring sensor is measuring vessel position With bow to during the measurement noise that produces, real for the ship obtaining position and bow are sent to system pid to information and control Device；

Step 3: based on environment optimum bow to Dynamic Positioning Control System device, environmental disturbances are carried out to external world with environment algorithm for estimating Estimate, and computing environment optimum bow to；

Step 4: by calculated optimum bow to being sent to ship pid controller；

Step 5: controller sends instruction to propeller, and ship is moved to optimum bow to position.

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,Estimate for environmental activity, be with joint efforts ship being indulged of environmental disturbances respectively To active force, horizontal force and yawing moment.k₀It is the often matrix of adjusting symmetrically of a setting, β is that in the middle of one, auxiliary becomes Amount, m is system inertia matrix, and ν is ship movement 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 environmental activity:τ_envFor actual environment interference make a concerted effort,For estimating Count making a concerted effort of environmental disturbances.Environmental activity is estimatedDifferential be ${\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}=\stackrel{\·}{\mathrm{\β}}+k_{0}m\stackrel{\·}{\mathrm{\ν}}=k_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}},$ So ${\stackrel{\·}{\widetilde{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-{\stackrel{\·}{\widehat{\mathrm{\τ}}}}_{\mathrm{env}}={\stackrel{\·}{\mathrm{\τ}}}_{\mathrm{env}}-k_0{\widetilde{\mathrm{\τ}}}_{\mathrm{env}}$

Step 3 environment optimum bow 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 ship to ψ_optFor environment optimum bow to,Represent that external environment is applied on ship The sign (being negative from right to left, from left to right for just) of cross force.

In step 5, to more fresh target bow to then setting ship target position as (x_d,y_d), and require the ship moment to protect Held in ring border optimum bow is to ψ=ψ_opt, that is, the target location attitude of ship is η=[x_d,y_d,ψ_opt]^t.

The purpose of the present invention is realized as follows:

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

Step 2: filter out the High-frequency Interference of wave using Kalman filter and measuring sensor is measuring vessel position With bow to during the measurement noise that produces, real for the ship obtaining position and bow are sent to system pid to information and control Device；

Step 3: based on environment optimum bow to Dynamic Positioning Control System device, environmental disturbances are carried out to external world with environment algorithm for estimating Estimate, and computing environment optimum bow to；

OrderFor the estimation of environmental activity, shown in its calculation expression such as formula (1)

${\widehat{\mathrm{\τ}}}_{\mathrm{env}}\left(t\right)=\mathrm{\β}+k_0\mathrm{m\ν}---\left(1\right)$

In formula, k₀It is the often matrix of adjusting symmetrically of a setting, β is auxiliary variable in the middle of, and β is calculated by formula (2) and obtains ?.

$\stackrel{\·}{\mathrm{\β}}=-k_0\mathrm{\β}-k_0(-d\left(\mathrm{\ν}\right)\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+k_0\mathrm{m\ν})---\left(2\right)$

The estimated bias of definition environmental activity:

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

Environmental activity is estimatedDifferential 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 ship to ψ_optFor environment optimum bow to then 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 external environment be applied to the cross force on ship sign (from right to left for Negative, from left to right for just).

Step 4: by calculated optimum bow to being sent to ship pid controller；

Step 5: controller sends instruction to propeller, and ship is moved to optimum bow to position；

In step 1, set ship target position as (x_d,y_d), and require the ship moment keep environment optimum bow to ψ= ψ_opt, that is, the target location attitude of ship is η=[x_d,y_d,ψ_opt]^t.

Choose the controller of suitable control algorithm design dynamic positioning ship, Dynamic Positioning Control System is carried out to ship.? This, pid controller is represented by formula taking pid controller as a example:

$\mathrm{\τ}=k_p{\mathrm{\η}}_e+k_i\&integral;{\mathrm{\η}}_e\mathrm{dt}+k_d\frac{d{\mathrm{\η}}_e}{\mathrm{dt}}---\left(7\right)$

In formula, η_e=η_d-η.

Claims (3)

1. a kind of real time environment optimum bow based on environment estimation is to marine power positioning control method it is characterised in that described Control method comprises the steps:

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

(2) filter out the High-frequency Interference of wave using Kalman filter and measuring sensor is measuring vessel position and bow to mistake The measurement noise producing in journey, real for the ship obtaining position and bow are sent to system pid controller to information；

(3) it is based on environment optimum bow to dynamic positioning pid controller, environmental disturbances are estimated to external world with environment algorithm for estimating Meter, and computing environment optimum bow to；

(4) by calculated optimum bow to being sent to ship pid controller:

(5) controller sends instruction to propeller, and ship is moved to optimum bow to position；

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

${\widehat{\mathrm{\τ}}}_{env}\left(t\right)=\mathrm{\β}+k_{0}m\mathrm{\ν}$

Estimate for environmental activity, be respectively environmental disturbances make a concerted effort to the longitudinal force of ship, Horizontal force and yawing moment, k₀It is often matrix of adjusting symmetrically, β is middle auxiliary variable, and m is system inertia matrix, and ν is ship Oceangoing ship movement velocity vector,

$\stackrel{\·}{\mathrm{\β}}=-k_0\mathrm{\β}-k_0(-d(\mathrm{\ν})\mathrm{\ν}-\mathrm{\μ}+\mathrm{\τ}+k_{0}m\mathrm{\ν})$

The estimated bias of environmental activity:τ_envFor actual environment interference make a concerted effort,For estimating environmental disturbances Make a concerted effort, environmental activity estimateDifferential be

Wherein d (v) is ship movement velocity SYSTEM OF LINEAR VECTOR hydrodynamic force matrix, and μ is the weight ginseng to dynamic positioning pid controller for the bow Number, τ is pid controller dominant vector.

2. a kind of real time environment optimum bow based on environment estimation according to claim 1 is to dynamic positioning of vessels controlling party Method it is characterised in that: step (3) environment optimum bow to for:

${\mathrm{\ψ}}_{opt}=\mathrm{\ψ}+actan2({\widehat{\mathrm{\τ}}}_{envy},{\widehat{\mathrm{\τ}}}_{envx})-sign\left({\widehat{\mathrm{\τ}}}_{envy}\right)*\mathrm{\π}$

ψ is the current bow of ship to ψ_optFor environment optimum bow to,Represent that external environment is applied to horizontal on ship The sign of power,It is the make a concerted effort horizontal force to ship, the longitudinal force of environmental disturbances respectively,It is right to representTake absolute value again after taking tangent.

3. a kind of real time environment optimum bow based on environment estimation according to claim 1 is to dynamic positioning of vessels controlling party Method it is characterised in that: in described step (5), more fresh target bow to when, ship target position be (x_d,y_d), and when requiring ship Carve and keep environment optimum bow to ψ=ψ_opt, ψ is the current bow of ship to ψ_optFor environment optimum bow to the i.e. target location appearance of ship State is η=[x_d,y_d,ψ_opt]^t.