CN105204506A - Dynamic positioning ship pipe laying tracking guiding method - Google Patents

Abstract

The invention discloses a dynamic positioning ship pipe laying tracking guiding method. The method includes the steps that 1, a pipe laying path is worked out according to a pipe paying starting point a (x1 and y1), a turning point b (x2 and y2), a pipe laying termination point c (x3 and y3), a pipe landing point, the longitudinal speed vdp and the angular speed omega which are set by a pipe laying ship; 2, an expected ship path is worked out according to the pipe laying path and the pipe suspended span section length; 3, a guiding point motion trail is worked out according to the pipe laying path and the set speed; 4, the deviation between the actual position of the ship at the current moment and the position of a guiding point and the deviation between the heading of the ship at the current moment and the heading of the guiding point are worked out, a PID control law is adopted, and control force and torque of the ship in pipe laying work are acquired; 5, the actual laying position of a pipe is acquired according to the actual position of the pipe laying ship. The system stability and control accuracy can be improved.

Description

A kind of dynamically positioning boats and ships pipe laying tracking guidance method

Technical field

The invention belongs to boats and ships laying work field, particularly relate to a kind of dynamically positioning boats and ships pipe laying tracking guidance method.

Background technology

Along with the minimizing day by day of land resources, the mankind pay attention to all the more the utilization and exploitation to ocean especially deep-sea resources, the energy, Marine oil and gas resource transport is that ocean resources utilize a ring most important in process, underwater pipeline plays an important role in oil gas transport, and the quality of submarine pipeline path planning, the height of laying accuracy are to the conevying efficiency important improving deep-sea resources.Pipelaying barge is when carrying out pipe laying work, boats and ships need be controlled at sea locate or carry out tracking along pre-set path, data process system by propeller thrust can control boats and ships automatically holding position and bow to, have the advantages such as positioning precision is high, maneuverability, data process system starts to be used widely on pipelaying barge thus.How rationally, scientifically cook up pipeline laying path and boats and ships tracking path according to pre-set track points and utilize data process system to control pipelaying barge and become along the accurate tracking in path plan the focus that scientific research and engineering practice field people study.Scientifically plan pipeline touchdown point path and boats and ships tracking path, avoid causing because turning angle is excessive pipe bending section curvature excessive, exceed its stress and bear the upper limit thus cause the situation of Pipeline damage to become the critical function ensureing the safety work of dynamically positioning boats and ships.

The pertinent literature in pipeline touchdown point layout path and boats and ships tracking path is reasonably cooked up according to the track points of setting less about how, Yang Lili is pipelaying barge tracking at its Master's thesis " research of S type pipelaying barge dynamically positioning robust control method " and Xie Wenbo and devises control method in its PhD dissertation " research of boats and ships laying work power positioning control method ", and when being referred to pipeline laying, should be noted the difference of pipeline reference locus and actual layout path, but all concrete paths planning method is not proposed.Automatically cook up the function in pipeline laying path and boats and ships tracking path after the DP control stand of dynamically positioning product as Northern Europe Norway Kongsberg company designs of main flow has achieved given track points in the world, but do not provide concrete methods of realizing.Not yet provide in current domestic and foreign literature and carry paths planning method herein.

Summary of the invention

The object of this invention is to provide a kind of system stability and control accuracy of can improving, dynamically positioning boats and ships pipe laying tracking guidance method.

A kind of dynamically positioning boats and ships pipe laying tracking guidance method, comprises the following steps,

Step one: according to the pipe laying starting point a (x of pipelaying barge setting ₁, y ₁), turning point b (x ₂, y ₂), pipe laying terminating point c (x ₃, y ₃), pipeline touchdown point longitudinal velocity v _dpand angular velocity omega calculates pipeline laying path;

Step 2: calculate boats and ships expected path according to pipeline laying path and pipeline suspended span segment length;

Step 3: the velograph according to pipeline laying path and setting calculates guiding point movement locus;

Step 4: calculate the physical location of current time boats and ships and bow to the position and bow of guiding point to deviation, adopt PID control law, obtain the control force and moment that boats and ships carry out laying work;

Step 5: the actual paving location solving pipeline according to the physical location of pipelaying barge.

The present invention can also comprise:

1, pipeline laying path comprises:

(1) straight-line segment pipeline laying path: pipe laying starting point a (x ₁, y ₁) and turning starting point p _ts(x _ts, y _ts) line and turning terminating point p _te(x _te, y _te) and pipe laying terminating point c (x ₃, y ₃) line,

$\{\begin{array}{c}{x}_{ts}=x_2-l_3{\mathrm{sin\θ}}_1\\ y_{ts}=y_2-l_3{\mathrm{cos\θ}}_1\end{array},\{\begin{array}{c}{x}_{te}=x_2+l_3{\mathrm{sin\θ}}_2\\ y_{te}=y_2+l_3{\mathrm{cos\θ}}_2\end{array},\left\{\begin{array}{c}{x}_o=x_2+l_0{\mathrm{sin\θ}}_h\\ y_o=y_2+l_0{\mathrm{cos\θ}}_h\end{array}\right.$

Wherein, l ₀for turning point is to the distance of turning center O: l ₃for turning starting point is to the distance of turning point: l ₃=tan (90 °-Δ θ/2) R, turning center is O (x ₀, y ₀), radius of turn R=v _dp/ ω, first paragraph flight-path angle is θ ₁, second segment flight-path angle is θ ₂, the angle that during tracking, boats and ships need turn over is θ _z=θ ₂-θ ₁, two sections of track line angles are Δ θ=180 °-(θ ₂-θ ₁), the angle θ of two sections of track line angle angular bisectors _h;

(2) turnaround section pipeline laying path is: with turning center O (x ₀, y ₀) be the center of circle, take R as radius, rotation bends up initial point p _ts(x _ts, y _ts) to turning terminating point p _te(x _te, y _te) circular arc.

2, boats and ships expected path comprises:

(1) straight-line segment boats and ships expected path is: boats and ships starting point a _s(x _s1, y _s1) and boats and ships turning starting point p _sts(x _sts, y _sts) line and boats and ships turning terminating point p _ste(x _ste, y _ste) and boats and ships terminating point c _s(x _s3, y _s3) line,

$\{\begin{array}{c}{x}_{s1}=x_1+l_{td}{\mathrm{sin\θ}}_1\\ y_{s1}=y_1+l_{td}{\mathrm{cos\θ}}_1\end{array},\{\begin{array}{c}{x}_3=x_3+l_{td}{\mathrm{sin\θ}}_2\\ y_{s3}=y_3+l_{td}{\mathrm{cos\θ}}_2\end{array},\{\begin{array}{c}{x}_{sts}=x_{ts}+l_{td}{\mathrm{sin\θ}}_1\\ y_{sts}=y_{ts}+l_{td}{\mathrm{cos\θ}}_1\end{array},\{\begin{array}{c}{x}_{ste}=x_{te}+l_{td}{\mathrm{sin\θ}}_2\\ y_{ste}=y_{te}+l_{td}{\mathrm{cos\θ}}_2\end{array};$

Wherein: l _tdfor length in the horizontal plane between touchdown point and quarter is pipeline suspended span segment distance;

(2) turnaround section boats and ships expected path is: with turning center O (x ₀, y ₀) be the center of circle, with R _sfor radius, rotation bends up initial point p _sts(x _sts, y _sts) to turning terminating point p _ste(x _ste, y _ste) circular arc:

R _s＝(x _sts-x ₀) ²+(y _sts-y ₀) ²。

3, guiding point movement locus is:

${\mathrm{\η}}_{ds}={\mathrm{\η}}_{dp}+l_{td}\left[\begin{array}{c}cos{\mathrm{\ψ}}_{dp}\\ {\mathrm{sin\ψ}}_{dp}\\ 0\end{array}\right]$

Wherein, ψ _dpfor the desired speed of pipeline, η _dpfor pipeline touchdown point desired motion track:

${\mathrm{\η}}_{dp}=\left[\begin{array}{c}{n}_{dp}\\ e_{dp}\\ {\mathrm{\ψ}}_{dp}\end{array}\right]={\mathrm{\η}}_{dp}+\left[\begin{array}{ccc}cos\left({\mathrm{\ψ}}_{dp}\right)& -\sin \left({\mathrm{\ψ}}_{dp}\right)& 0\\ sin\left({\mathrm{\ψ}}_{dp}\right)& \cos \left({\mathrm{\ψ}}_{dp}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{u}_{dp}\\ v_{dp}\\ r_{dp}\end{array}\right]\mathrm{\Δ}h$

Δ h is the sampling period.

4, PID control law is:

$\mathrm{\τ}=K_P{\mathrm{\η}}_e+K_I\∫{\mathrm{\η}}_{e}dt+K_D\frac{{\mathrm{d\η}}_e}{dt}$

η _e=[n _ee _eψ _e] ^tfor the physical location of current time boats and ships and bow to the position and bow of guiding point to deviation,

The longitudinal control τ of dynamically positioning boats and ships _x, lateral control force τ _ywith control moment τ _nfor:

τ _x＝K _{p_surge}·n _e+K _{d_surge}·u+K _{i_surge}·I _surge

τ _y＝K _{p_sway}·e _e+K _{d_sway}·v+K _{i_sway}·I _sway

τ _N＝K _{p_yaw}·ψ _e+K _{d_yaw}·r+K _{i_yaw}·I _yaw

Wherein, K _{p_surge}, K _{i_surge}and K _{d_surge}for the pid control parameter of boats and ships longitudinal force, I _surgerepresent the integration to longitudinal bias; K _{p_sway}, K _{d_sway}and K _{i_sway}for the pid control parameter of boats and ships transverse force, I _swayrepresent the integration to lateral deviation; K _{p_yaw}, K _{d_yaw}and K _{i_yaw}for boats and ships turn the pid control parameter of bow moment, I _yawrepresent the integration of bow to deviation.

5, the actual paving location of pipeline:

${\mathrm{\η}}_p=\mathrm{\η}-l_{td}\left[\begin{array}{c}cos{\mathrm{\ψ}}_{dp}\\ {\mathrm{sin\ψ}}_{dp}\\ 0\end{array}\right].$

Beneficial effect:

Beneficial effect of the present invention is for dynamically positioning boats and ships tracking mode of operation, according to current predetermined track points, by the desired motion track of design pipeline touchdown point, obtain the desired motion track of boats and ships, and by current time desired locations and expect bow to the design of guidance method, realize the control to boats and ships tracking, thus reach the object indirectly controlling pipeline and lay by expection path planning.Simultaneously, in the design process of the desired motion track to pipeline touchdown point, because turning point place adds the thought of curve tracking, avoiding pipeline in turning point because bending through ambassador's pipeline bearing the generation of the situations such as excessive stresses causes pipeline break damaged, drastically increasing the security of laying work.Proposed guidance method is simple, and control accuracy is higher, is applicable to actual laying work, has high engineering application value.

Accompanying drawing explanation

Fig. 1 is Ship Dynamic Positioning Systems Based pipe laying path Guidance control method basic procedure block diagram.

Fig. 2 is the schematic diagram of dynamically positioning boats and ships hull coordinate system and earth coordinates.

Fig. 3 is any given starting point, turning point, the pipeline cooked up after terminating point and boats and ships expected path schematic diagram.

Fig. 4 is dynamically positioning boats and ships pipe laying process schematic.

Fig. 5 is any given starting point, turning point, the pipeline cooked up after terminating point and boats and ships expected path schematic diagram (for simulating, verifying).

Fig. 6 is pipeline shown in simulating, verifying Fig. 5 and boats and ships expected path feasibility analogous diagram.

Fig. 7 applies the dynamically positioning vessel position aircraft pursuit course that proposed method obtains in l-G simulation test.

Fig. 8 applies the pipeline location aircraft pursuit course that proposed method obtains in l-G simulation test.

Fig. 9 applies the dynamically positioning boats and ships rate curve that proposed method obtains in l-G simulation test.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further details.

The object of the invention is to, realize tracking function provide that a kind of system stability is better, control accuracy is higher for realizing dynamically positioning boats and ships, tracking path is dynamically positioning boats and ships pipe laying tracking guidance method more reasonably.

For achieving the above object, the technical solution used in the present invention comprises the following steps, as shown in Figure 1 to 4:

(1) complete the setting of tracking set point, boats and ships enter pipe laying duty, and completion system initialization;

Set up earth coordinates and with ship coordinate system to represent ship motion, wherein earth coordinates o _nx _ny _nz _nbe described as: choose any point o on sea level _nfor initial point, with direction, due east be transverse axis, direct north is for the longitudinal axis; Hull coordinate system o _bx _by _bz _bbe described as: with the center of gravity o of boats and ships _bfor initial point, with starboard direction be transverse axis, stem direction is for the longitudinal axis.

The mathematical model of involved dynamically positioning boats and ships Three Degree Of Freedom in earth coordinates and hull coordinate system is:

$\stackrel{\·}{\mathrm{\η}}=Jv$

$M\stackrel{\·}{v}+Dv+Cv=\mathrm{\τ}$

In formula, η represents that the position of boats and ships in earth coordinates and bow are to vector [n, e, ψ], and v represents the velocity vector of boats and ships in hull coordinate system [u, v, r], and τ represents the thrust that thruster produces and flywheel moment vector [τ _x, τ _y, τ _n], J is the transition matrix being tied to earth coordinates from hull coordinate $J=\left[\begin{array}{ccc}cos\mathrm{\ψ}& -sin\mathrm{\ψ}& 0\\ sin\mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right],$ M is the inertial matrix of boats and ships, $M=\left[\begin{array}{ccc}m-X_{\stackrel{\·}{u}}& 0& 0\\ 0& m-Y_{\underset{.}{\overset{.}{v}}}& {\mathrm{mx}}_g-Y_{\stackrel{\·}{r}}\\ 0& {\mathrm{mx}}_g-Y_{\stackrel{\·}{r}}& I_z-N_{\stackrel{\·}{r}}\end{array}\right],$ M is boats and ships quality, I _zfor moment of inertia, x _gfor boats and ships barycenter longitudinal coordinate in hull coordinate system, other parameters are single order hydrodynamic force derivatives, and D is the hydrodynamic damping matrix of coefficients of boats and ships, $D=\left[\begin{array}{ccc}{X}_u& 0& 0\\ 0& Y_{\underset{\·}{v}}& Y_r\\ 0& N_v& N_r\end{array}\right],$ C is Coriolis force centripetal force matrix.

(2) in conjunction with the speed set in the pipe laying starting point set under earth coordinates, turning point, terminating point coordinate and hull coordinate system, pipeline touchdown point desired trajectory and boats and ships desired motion track is obtained.

Pipeline laying starting point is a (x ₁, y ₁), turning point is b (x ₂, y ₂), terminating point is c (x ₃, y ₃), boats and ships expect that bow is to being ψ, and pipeline touchdown point longitudinal velocity is v _dp, angular velocity is ω, and turning center is O (x ₀, y ₀), radius of turn R=v _dp/ ω, first paragraph flight-path angle is θ ₁(angle involved is herein the angle with north), second segment flight-path angle is θ ₂, the angle that during tracking, boats and ships need turn over is θ _z=θ ₂-θ ₁, two sections of track line angles are Δ θ=180 °-(θ ₂-θ ₁) (if Δ θ is <180 °, Δ θ=Δ θ-180 °, if Δ θ is <180 °, Δ θ=Δ θ+180 °), the angle θ of two sections of track line angle angular bisectors _h=θ ₂+ Δ θ/2 are (if turn θ left _h=θ ₂-Δ θ/2).

1) straight-line segment pipeline desired trajectory

Straight-line segment pipeline desired trajectory is: starting point a (x ₁, y ₁) and turning starting point p _ts(x _ts, y _ts) line and turning terminating point p _te(x _te, y _te) and terminating point c (x ₃, y ₃) line.

$\{\begin{array}{c}{x}_{ts}=x_2-l_3{\mathrm{sin\&theta;}}_1\\ y_{ts}=y_2-l_3{\mathrm{cos\&theta;}}_1\end{array},\{\begin{array}{c}{x}_{te}=x_2+l_3{\mathrm{sin\&theta;}}_2\\ y_{te}=y_2+l_3{\mathrm{cos\&theta;}}_2\end{array},\{\begin{array}{c}{x}_o=x_2+l_0{\mathrm{sin\&theta;}}_h\\ y_o=y_2+l_0{\mathrm{cos\&theta;}}_h\end{array},$ L ₀for turning point is to the distance of turning center O: l ₃for turning starting point is to the distance of turning point: l ₃=tan (90 °-Δ θ/2) R.

Note: when angle of turn is too small, calculates as stated above and there will be turning starting point and drop on situation on track line reverse extending line, do not conform to the actual conditions, now, and need to l ₃limited, that is: worked as l ₃>=0.5l ₁or l ₃>=0.5l ₂time, l ₃=min{l ₁, l ₂, wherein l ₁for starting point a (x ₁, y ₁) and turning point b (x ₂, y ₂) distance, l ₂for turning point b (x ₂, y ₂) and terminating point c (x ₃, y ₃) distance.Now, l ₀=l ₃/ cos (θ _h-θ ₁), p _ts(x _ts, y _ts), p _te(x _te, y _te) and O (x ₀, y ₀) computing method the same.

2) turnaround section pipeline desired trajectory

Turnaround section pipeline desired trajectory is: with turning center O (x ₀, y ₀) be the center of circle, take R as radius, rotation bends up initial point p _ts(x _ts, y _ts) to turning terminating point p _te(x _te, y _te) circular arc.

3) straight-line segment boats and ships desired trajectory

Definition: the contact point in pipeline and seabed is pipeline touchdown point, between touchdown point and quarter, length is in the horizontal plane pipeline suspended span segment distance, remembers: l _td.

Straight-line segment boats and ships desired trajectory is: boats and ships starting point a _s(x _s1, y _s1) and boats and ships turning starting point p _sts(x _sts, y _sts) line and boats and ships turning terminating point p _ste(x _ste, y _ste) and boats and ships terminating point c _s(x _s3, y _s3) line.Wherein:

$\{\begin{array}{c}{x}_{s1}=x_1+l_{td}{\mathrm{sin\&theta;}}_1\\ y_{s1}=y_1+l_{td}{\mathrm{cos\&theta;}}_1\end{array},\{\begin{array}{c}{x}_3=x_3+l_{td}{\mathrm{sin\&theta;}}_2\\ y_{s3}=y_3+l_{td}{\mathrm{cos\&theta;}}_2\end{array},\{\begin{array}{c}{x}_{sts}=x_{ts}+l_{td}{\mathrm{sin\&theta;}}_1\\ y_{sts}=y_{ts}+l_{td}{\mathrm{cos\&theta;}}_1\end{array},\{\begin{array}{c}{x}_{ste}=x_{te}+l_{td}{\mathrm{sin\&theta;}}_2\\ y_{ste}=y_{te}+l_{td}{\mathrm{cos\&theta;}}_2\end{array}.$

4) turnaround section boats and ships desired track

Turnaround section boats and ships desired trajectory is: with turning center O (x ₀, y ₀) be the center of circle, with R _sfor radius, rotation bends up initial point p _sts(x _sts, y _sts) to turning terminating point p _ste(x _ste, y _ste) circular arc.Wherein: R _s=(x _sts-x ₀) ²+ (y _sts-y ₀) ².

(3) in conjunction with the desired speed ψ of pipeline _dpobtain the guiding point movement locus expression formula of moving along the boats and ships expected path planned in advance, by indirectly reaching the object of laying along desired trajectory pipeline to the control of boats and ships tracking precision.

Boats and ships guiding point movement locus η _dsexpression formula be:

${\mathrm{\&eta;}}_{ds}={\mathrm{\&eta;}}_{dp}+l_{td}\left[\begin{array}{c}cos{\mathrm{\&psi;}}_{dp}\\ {\mathrm{sin\&psi;}}_{dp}\\ 0\end{array}\right]$

Wherein: η _dpfor pipeline touchdown point desired motion track, its expression formula is:

${\mathrm{\&eta;}}_{dp}=\left[\begin{array}{c}{n}_{dp}\\ e_{dp}\\ {\mathrm{\&psi;}}_{dp}\end{array}\right]={\mathrm{\&eta;}}_{dp}+\left[\begin{array}{ccc}cos\left({\mathrm{\&psi;}}_{dp}\right)& -sin\left({\mathrm{\&psi;}}_{dp}\right)& 0\\ sin\left({\mathrm{\&psi;}}_{dp}\right)& \cos \left({\mathrm{\&psi;}}_{dp}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{u}_{dp}\\ v_{dp}\\ r_{dp}\end{array}\right]\mathrm{\&Delta;}h$

In formula, Δ h is the sampling period.

(4) according to the physical location of current time boats and ships and bow to and desired locations and bow to, calculate position in current time hull coordinate system and bow to deviation η _e=[n _ee _eψ _e] ^t.

η _e＝η-η _ds

Wherein: η=[ne ψ] ^tfor current time boats and ships physical location and bow to.

(5) PID control method acquisition boats and ships are adopted to carry out the control force and moment of laying work.

PID controller expression is expressed from the next:

$\mathrm{\&tau;}=K_P{\mathrm{\&eta;}}_e+K_I\&Integral;{\mathrm{\&eta;}}_{e}dt+K_D\frac{{\mathrm{d\&eta;}}_e}{dt}$

The longitudinal control τ of dynamically positioning boats and ships _x, lateral control force τ _ywith control moment τ _nexpression formula be:

τ _x＝K _{p_surge}·n _e+K _{d_surge}·u+K _{i_surge}·I _surge

τ _y＝K _{p_sway}·e _e+K _{d_sway}·v+K _{i_sway}·I _sway

τ _N＝K _{p_yaw}·ψ _e+K _{d_yaw}·r+K _{i_yaw}·I _yaw

In formula, K _{p_surge}, K _{i_surge}and K _{d_surge}for the pid control parameter of boats and ships longitudinal force, I _surgerepresent the integration to longitudinal bias; K _{p_sway}, K _{d_sway}and K _{i_sway}for the pid control parameter of boats and ships transverse force, I _swayrepresent the integration to lateral deviation; K _{p_yaw}, K _{d_yaw}and K _{i_yaw}for boats and ships turn the pid control parameter of bow moment, I _yawrepresent the integration of bow to deviation.

(6) by control and torque-feedback to the mathematical model of dynamically positioning boats and ships, resolve the physical location of subsequent time boats and ships and bow to, be then updated to subsequent time by current time.

(7) by current time vessel position and bow to resolving current time pipeline physical location.Its expression formula is:

${\mathrm{\&eta;}}_p=\mathrm{\&eta;}-l_{td}\left[\begin{array}{c}{\mathrm{cos\&psi;}}_{dp}\\ {\mathrm{sin\&psi;}}_{dp}\\ 0\end{array}\right]$

(8) repeated execution of steps (3)-(7), until pipeline laying is to precalculated position, Output rusults, realizes laying work function.

The invention discloses a kind of dynamic positioning vessel pipe laying tracking guidance method.Speed is laid in the expectation that first the method sets track points coordinate and pipeline, pipeline touchdown point path and boats and ships expectation tracking path is obtained by geometric coordinate conversion, in conjunction with the mathematical model of ship motion, boats and ships are guided to move along the path of planning in advance by introducing guiding strategy, thus reach pipeline touchdown point is controlled the object on pipeline laying path indirectly, then the desired locations of Ship ' current time and bow to, last according to current time physical location, bow to and desired locations, bow to deviation, thereof using PID control method obtains the longitudinal direction controlling ship motion, transverse force and flywheel moment, thus make boats and ships reach the position of expectation and bow to, realize boats and ships pipe laying tracking function.The method is simple, significant to raising control accuracy, operational security, is applicable to actual laying work, has high engineering application value.

A kind of dynamically positioning boats and ships pipe laying tracking guidance method, mainly comprise the layout path cooking up pipeline according to each state initialization value of boats and ships, the tracking path of boats and ships, the calculating of boats and ships guiding point and backwards calculation go out pipeline touchdown point position, how to complete the problem of accurate tubing for solving pipelaying barge.

Pipeline laying path is calculated according to pipe laying starting point, turning point, pipe laying terminating point, speed and turn meter that pipelaying barge sets.

Ship motion path is calculated according to pipeline laying path and pipeline suspended span segment length.

The position of guiding point is calculated according to the speed turn meter of pipeline laying path, pipeline suspended span segment length and setting.

Design PID control law, solves control according to the deviation of boats and ships physical location and guiding point and controls pipelaying barge.

The actual paving location of pipeline is solved according to the physical location of pipelaying barge.

In order to verify rationality, the feasibility of the inventive method, using computing machine to write MATLAB program, using Simulink to carry out l-G simulation test.This embodiment comprises following steps:

(1) test condition

Adopt the dynamic positioning vessel mathematical model described in (1) in summary of the invention, design parameter is selected as follows:

Captain: 185m;

Boats and ships quality: 59106.6 tons;

Boats and ships inertial matrix: $M={10}^7\&times;\left[\begin{array}{ccc}6.2121& 0& 0\\ 0& 8.6033& 48.1818\\ 0& 48.1818& 6.4689\&times;{10}^5\end{array}\right];$

Boats and ships damping battle array: $D={10}^5\&times;\left[\begin{array}{ccc}6.27& 0& 0\\ 0& 2.74& -62.37\\ 0& -62.37& 1.45\&times;{10}^4\end{array}\right];$

The Coriolis of boats and ships and centripetal force matrix: $C=\left[\begin{array}{ccc}0& 0& 0\\ 0& 0& 0\\ 0& 0& 0\end{array}\right].$

(2) initial value is arranged

Track points is set to: a (0,0), b (0,273), c (770,273), d (1050 ,-7.2113);

Desired speed: [u, v, r]=[0.3,0,0.45];

Sampling time: 0.1s;

Setting simulation time is: 3846s.

(3) according to above-mentioned steps (2)-step (7) operation, analogous diagram is obtained as follows.

(4) test findings and analysis

Accompanying drawing 6 is that whole pipe laying process medium power location boats and ships and the position of pipeline touchdown point in terrestrial coordinate and bow are to change curve, solid line ship shape is in the drawings followed successively by pipe laying initial time from left to right, the position of the boats and ships that intermediate time and pipe laying end time record and bow to, in figure, blue dotted line is pipeline touchdown point expected path, red dotted line is hull expected path, red solid line is the actual layout path of pipeline, and blue solid lines is the actual tracking paths of boats and ships

Accompanying drawing 7 gives dynamically positioning boats and ships pipeline touchdown point position aircraft pursuit course in pipe laying process, and accompanying drawing 8 is dynamically positioning boats and ships vessel position aircraft pursuit course in pipe laying process, figure 9 shows dynamically positioning boats and ships ship motion rate curve in pipe laying process.

The pipeline expected path planned in the layout path of pipeline and Fig. 5 is as seen from Figure 6 basically identical, illustrate for convenience, by arc section pipe laying path partial enlargement, as can be seen from partial enlarged drawing, the Actual path of pipeline laying is identical with preset path curvature, and trend is consistent, and actual job tracking error is less, whole process error basic controlling, within 0.5m, meets engine request.As seen from Figure 7 in pipe laying process, boats and ships can carry out tracking according to predetermined tracking path, and as seen from Figure 8, under current tracking state, pipeline touchdown point path can control, on predetermined pipeline expected path, to ensure that laying work precision.As shown in Figure 9, in whole pipe laying process, boats and ships can carry out laying work with stable speed, ensure that the stability of boats and ships in operation process, avoid pipeline and cause the generation of pipeline break situation because of instantaneous acceleration-deceleration, ensure that the safety of laying work.

In summary, dynamic positioning vessel pipe laying tracking guidance method given by step (2)-(7) can generate rational pipeline touchdown point layout path and boats and ships tracking path automatically according to the track points of setting, and guides pipelaying barge to carry out the operation of pipe laying tracking along the path of having planned.The method of the present invention's design reasonably can plan pipeline laying path particularly turnaround section layout path, avoids pipeline and crosses its stress born of ambassador because of bending section curvature and exceed the upper limit, cause the generation of Pipeline damage situation.Meanwhile, higher control accuracy and stable dynamic response can be kept in whole pipe laying process.This makes this method have higher safety and reliability, and the method allowing the present invention design is more suitable for actual laying work, has higher engineer applied and is worth.

Claims (6)

1. a dynamically positioning boats and ships pipe laying tracking guidance method, is characterized in that: comprise the following steps,

Step one: according to the pipe laying starting point a (x of pipelaying barge setting ₁, y ₁), turning point b (x ₂, y ₂), pipe laying terminating point c (x ₃, y ₃), pipeline touchdown point longitudinal velocity v _dpand angular velocity omega calculates pipeline laying path;

Step 2: calculate boats and ships expected path according to pipeline laying path and pipeline suspended span segment length;

Step 3: the velograph according to pipeline laying path and setting calculates guiding point movement locus;

Step 4: calculate the physical location of current time boats and ships and bow to the position and bow of guiding point to deviation, adopt PID control law, obtain the control force and moment that boats and ships carry out laying work;

Step 5: the actual paving location solving pipeline according to the physical location of pipelaying barge.

2. a kind of dynamically positioning boats and ships pipe laying tracking guidance method according to claim 1, is characterized in that: described pipeline laying path comprises:

(1) straight-line segment pipeline laying path: pipe laying starting point a (x ₁, y ₁) and turning starting point p _ts(x _ts, y _ts) line and turning terminating point p _te(x _te, y _te) and pipe laying terminating point c (x ₃, y ₃) line,

$\begin{array}{ccc}\left\{\begin{array}{c}{x}_{ts}=x_2-l_3{\mathrm{sin\&theta;}}_1\\ y_{ts}=y_2-l_3{\mathrm{cos\&theta;}}_1\end{array}\right.,& \left\{\begin{array}{c}{x}_{te}=x_2+l_3{\mathrm{sin\&theta;}}_2\\ y_{te}=y_2+l_3{\mathrm{cos\&theta;}}_2\end{array}\right.,& \left\{\begin{array}{c}{x}_o=x_2+l_0{\mathrm{sin\&theta;}}_h\\ y_o=y_2+l_0{\mathrm{cos\&theta;}}_h\end{array}\right.\end{array}$

Wherein, l ₀for turning point is to the distance of turning center O: l ₃for turning starting point is to the distance of turning point: l ₃=tan (90 °-Δ θ/2) R, turning center is O (x ₀, y ₀), radius of turn R=v _dp/ ω, first paragraph flight-path angle is θ ₁, second segment flight-path angle is θ ₂, the angle that during tracking, boats and ships need turn over is θ _z=θ ₂-θ ₁, two sections of track line angles are Δ θ=180 °-(θ ₂-θ ₁), the angle θ of two sections of track line angle angular bisectors _h;

(2) turnaround section pipeline laying path is: with turning center O (x ₀, y ₀) be the center of circle, take R as radius, rotation bends up initial point p _ts(x _ts, y _ts) to turning terminating point p _te(x _te, y _te) circular arc.

3. a kind of dynamically positioning boats and ships pipe laying tracking guidance method according to claim 1, is characterized in that: described boats and ships expected path comprises:

(1) straight-line segment boats and ships expected path is: boats and ships starting point a _s(x _s1, y _s1) and boats and ships turning starting point p _sts(x _sts, y _sts) line and boats and ships turning terminating point p _ste(x _ste, y _ste) and boats and ships terminating point c _s(x _s3, y _s3) line,

$\begin{array}{cccc}\left\{\begin{array}{c}{x}_{s1}=x_1+l_{td}{\mathrm{sin\&theta;}}_1\\ y_{s1}=y_1+l_{td}{\mathrm{cos\&theta;}}_1\end{array}\right.,& \left\{\begin{array}{c}{x}_{s3}=x_3+l_{td}{\mathrm{sin\&theta;}}_2\\ y_{s3}=y_3+l_{td}{\mathrm{cos\&theta;}}_2\end{array}\right.,& \left\{\begin{array}{c}{x}_{sts}=x_{ts}+l_{td}{\mathrm{sin\&theta;}}_1\\ y_{sts}=y_{ts}+l_{td}{\mathrm{cos\&theta;}}_1\end{array}\right.,& \left\{\begin{array}{c}{x}_{ste}=x_{te}+l_{td}{\mathrm{sin\&theta;}}_2\\ y_{ste}=y_{te}+l_{td}{\mathrm{cos\&theta;}}_2\end{array}\right.\end{array};$

Wherein: l _tdfor length in the horizontal plane between touchdown point and quarter is pipeline suspended span segment distance;

(2) turnaround section boats and ships expected path is: with turning center O (x ₀, y ₀) be the center of circle, with R _sfor radius, rotation bends up initial point p _sts(x _sts, y _sts) to turning terminating point p _ste(x _ste, y _ste) circular arc:

R _s＝(x _sts-x ₀) ²+(y _sts-y ₀) ²。

4. a kind of dynamically positioning boats and ships pipe laying tracking guidance method according to claim 1, is characterized in that: described guiding point movement locus is:

${\mathrm{\&eta;}}_{ds}={\mathrm{\&eta;}}_{dp}+l_{td}\left[\begin{array}{c}cos{\mathrm{\&psi;}}_{dp}\\ {\mathrm{sin\&psi;}}_{dp}\\ 0\end{array}\right]$

Wherein, ψ _dpfor the desired speed of pipeline, η _dpfor pipeline touchdown point desired motion track:

${\mathrm{\&eta;}}_{dp}=\left[\begin{array}{c}{n}_{dp}\\ e_{dp}\\ {\mathrm{\&psi;}}_{dp}\end{array}\right]={\mathrm{\&eta;}}_{dp}+\left[\begin{array}{ccc}cos\left({\mathrm{\&psi;}}_{dp}\right)& -sin\left({\mathrm{\&psi;}}_{dp}\right)& 0\\ sin\left({\mathrm{\&psi;}}_{dp}\right)& \cos \left({\mathrm{\&psi;}}_{dp}\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{u}_{dp}\\ v_{dp}\\ r_{dp}\end{array}\right]\mathrm{\&Delta;}h$

Δ h is the sampling period.

5. a kind of dynamically positioning boats and ships pipe laying tracking guidance method according to claim 1, is characterized in that: described PID control law is:

$\mathrm{\&tau;}=K_P{\mathrm{\&eta;}}_e+K_I\&Integral;{\mathrm{\&eta;}}_{e}dt+K_D\frac{{\mathrm{d\&eta;}}_e}{dt}$

η _e=[n _ee _eψ _e] ^Τfor the physical location of current time boats and ships and bow to the position and bow of guiding point to deviation,

The longitudinal control τ of dynamically positioning boats and ships _x, lateral control force τ _ywith control moment τ _nfor:

τ _x＝K _{p_surge}·n _e+K _{d_surge}·u+K _{i_surge}·I _surge

τ _y＝K _{p_sway}·e _e+K _{d_sway}·v+K _{i_sway}·I _sway

τ _N＝K _{p_yaw}·ψ _e+K _{d_yaw}·r+K _{i_yaw}·I _yaw

Wherein, K _{p_surge}, K _{i_surge}and K _{d_surge}for the pid control parameter of boats and ships longitudinal force, I _surgerepresent the integration to longitudinal bias; K _{p_sway}, K _{d_sway}and K _{i_sway}for the pid control parameter of boats and ships transverse force, I _swayrepresent the integration to lateral deviation; K _{p_yaw}, K _{d_yaw}and K _{i_yaw}for boats and ships turn the pid control parameter of bow moment, I _yawrepresent the integration of bow to deviation.

6. a kind of dynamically positioning boats and ships pipe laying tracking guidance method according to claim 1, is characterized in that: the actual paving location of described pipeline:

${\mathrm{\&eta;}}_p=\mathrm{\&eta;}-l_{td}\left[\begin{array}{c}cos{\mathrm{\&psi;}}_{dp}\\ {\mathrm{sin\&psi;}}_{dp}\\ 0\end{array}\right].$