CN105867187B - Sea condition self-adaptive ship automatic ballast system and control method thereof - Google Patents
Sea condition self-adaptive ship automatic ballast system and control method thereof Download PDFInfo
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Abstract
The invention discloses a sea condition self-adaptive ship automatic ballast system and a control method thereof.A first workstation and a second workstation of the system adopt a dual-computer redundancy structure, and a first router, a second router and a meteorological radar are connected with each other through an annular shielding network cable to form a looped network redundancy structure; the first workstation and the second workstation are used as upper computers to realize a man-machine interaction function, and the industrial controller is used as a lower computer to realize a system detection and control execution function. The method comprises a workstation main program, an industrial controller program, and automatic ballast, water pump control, valve control and sea state parameter extraction sub-programs. The invention can automatically judge and finish ballast or unloading operation preparation according to the instruction; automatically controlling a ballast water pump and each valve to carry out ship ballast and unloading; automatically acquiring sea state parameters and adjusting ship ballast control parameters according to the sea state parameters to keep the stability of ship ballast. The invention has the advantages of high ballast and unloading operation speed, safety and reliability.
Description
Technical Field
The invention belongs to the technical field of ship ballast, and relates to a sea condition self-adaptive ship automatic ballast system and a control method thereof.
Background
To achieve safe sailing, the vessel must maintain its stable state. When the load in the cabin changes or is attacked by external wind, wave and surge, the stability of the ship changes and needs to be adjusted through a ship ballast system. Most of the existing ship ballast control systems are manual ballast, the ballast speed and the ship stability depend on the experience and the operation proficiency of sailors, and part of automatic ballast systems lack the inhibition and adjustment capabilities on external interference factors due to the fact that the automatic ballast control systems do not have the detection functions on sea condition parameters such as wind direction, wind speed, sea wave height, frequency, wave speed and the like, so that the safety of ships and the ballast control accuracy cannot be guaranteed.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide a sea condition self-adaptive ship automatic ballast system and a control method thereof, wherein the sea condition self-adaptive ship automatic ballast system has a function of detecting sea condition parameters such as wind direction, wind speed, sea wave height, frequency, wave speed and the like, and can inhibit and adjust external interference factors so as to ensure the safety of a ship and the ballast control precision.
In order to solve the above technical problems in the prior art, the present invention adopts the following technical solutions.
The invention relates to a sea condition self-adaptive automatic ballast system for a ship, which comprises a workstation, a shielding network cable, a router, an industrial controller, a field bus, a water pump set, a valve set, a pipeline pressure sensor set and a liquid level sensor set.
The workstation comprises a first workstation and a second workstation, and the router comprises a first router and a second router.
The first workstation and the second workstation are respectively connected with the first router through shielding network cables; the first router, the weather radar and the second router are connected in an annular mode through shielding network cables.
And the industrial controller is connected with the second router through a shielding network cable.
The water pump set, the valve set, the pressure sensor set and the liquid level sensor set are respectively connected with the industrial controller through field buses.
The first workstation and the second workstation adopt a dual-computer redundancy structure.
The first router, the meteorological radar and the second router are connected with each other through an annular shielding network cable to form a ring network redundancy structure.
The first workstation and the second workstation are used as upper computers to realize a man-machine interaction function, and the industrial controller is used as a lower computer to realize a system detection and control execution function.
The invention relates to a sea condition self-adaptive ship automatic ballast control method, which sequentially carries out a workstation main program, an industrial controller program, an automatic ballast subprogram, a water pump control subprogram, a valve control subprogram and a sea condition parameter extraction subprogram.
The control method comprises the following steps:
and (2-1) initializing the system.
(2-2) entering the main program of the workstation, and acquiring and setting relevant parameters; starting an industrial controller program, reading various state parameters of the industrial controller program, such as liquid level, hold capacity, longitudinal and transverse inclination, deflection, submergence depth, pipeline pressure, sea state parameters, valve state, water pump state and the like, and storing and displaying the parameters; and then entering sea state self-adaptive automatic ballast operation.
And (2-3) entering the industrial controller program, performing relevant operations of automatic ballast, water pump control, valve control and sea state parameter extraction, and calling the automatic ballast subprogram.
In the automatic ballast subprogram, automatically judging a ballast or unloading working mode by comparing the target diving depth set by the workstation main program with the acquired current diving depth, and calling a corresponding valve control program and a corresponding water pump control program; in addition, whether the automatic ballast program is ended or not is judged by judging whether the current diving depth value enters the target diving depth error or not.
In the water pump control subprogram, the matching valves around the water pump are operated through the sinking-floating state flag bit; in the water pump control subprogram, the starting number of the water pumps is configured by detecting the pressure of a main pipe; and whether to start the water pump is judged by the pump operation flag bit.
In the valve control subprogram, whether to open the valve is judged by a valve operation zone bit; and whether the valve is opened in place is judged by comparing the actual opening degree of the valve with the issued opening degree.
In the sea condition extraction subprogram, sea wave parameters are extracted through fast Fourier operation FFT processing, wind speed and wind direction parameters are extracted through a meteorological radar, and the parameters are implanted into an automatic control strategy; an alarm signal is output immediately when the data is found to be abnormal.
Compared with the prior art, the invention has the following beneficial effects and advantages:
1. the invention adopts computer and network redundancy technology, which improves the reliability of the control system;
2. sea condition parameters are introduced in ballast control, so that the safety of ship ballast is improved;
3. in the process of ship ballast, the interference caused by sea condition parameters is inhibited, and the control precision of ship ballast is improved;
4. the ballast speed is improved, and the ballast time is reduced;
5. the automation degree of ballasting is improved, and manual operation is reduced.
Drawings
Fig. 1 is a system diagram of an embodiment of an automatic ballast system for a sea-state adaptive ship according to the present invention.
Fig. 2 is a flowchart of a method of an embodiment of the sea-state adaptive ship auto-ballast control method according to the present invention.
FIG. 3 is a flowchart of a main program of a workstation according to an embodiment of the method of the present invention.
FIG. 4 is a flowchart of an industrial controller process according to an embodiment of the method of the present invention.
FIG. 5 is a flowchart of an auto-ballasting subroutine of an embodiment of the method of the present invention.
FIG. 6 is a flowchart of a water pump control subroutine according to an embodiment of the method of the present invention.
FIG. 7 is a flowchart of a valve control subroutine according to an embodiment of the method of the present invention.
FIG. 8 is a flowchart of a sea state parameter extraction subroutine according to an embodiment of the present invention.
The system comprises a first workstation, a second workstation, a first router, a second router, an industrial controller, a field bus, a water pump set, a valve set, a pipeline pressure sensor set, a liquid level sensor set, a weather radar and a shielding network cable, wherein the first workstation is 1, the second workstation is 2, the first router is 3, the second router is 4, the industrial controller is 5, the field bus is 6, the water pump set is 7, the valve set is 8, the pipeline pressure sensor set.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic system diagram of an embodiment of the automatic ballast system for a sea-state adaptive ship according to the present invention. The system comprises: the system comprises a first workstation 1, a shielding network cable 12, a second workstation 2, a first router 3, a meteorological radar 11, a second router 4, an industrial controller 5, a field bus 6, a water pump group 7, a valve group 8, a pipeline pressure sensor group 9 and a liquid level sensor group 10.
The first workstation 1 and the second workstation 2 are respectively connected with the first router 3 through a shielding network cable 12. The first router 3, the weather radar 11, and the second router 4 are connected to each other in a ring shape by a shield network cable 12. The industrial controller 5 is connected to the second router 4 through a shield mesh wire 12. The water pump group 7, the valve group 8, the pressure sensor group 9 and the liquid level sensor group 10 are respectively connected with the industrial controller 5 through a field bus 6. Wherein the valve group 8 comprises a configuration valve for changing the flow direction of the water pump and branch valves leading to each ballast tank, and the liquid level sensor group 10 comprises each ballast tank liquid level sensor, a cargo tank, an oil tank, a fresh water tank liquid level sensor, a deflection measuring sensor, a 6-degree draft sensor and the like.
The first workstation 1 and the second workstation 2 employ a dual computer redundancy architecture. The first router 3, the weather radar 11 and the second router 4 are connected with each other through an annular shielding network cable 12 to form a ring network redundancy structure.
In addition, the first workstation 1 and the second workstation 2 serve as upper computers to realize a human-computer interaction function, and the industrial controller 5 serves as a lower computer to realize a system detection and control execution function.
The industrial controller 5 is a programmable logic controller PLC or a programmable automation controller PAC.
The first and second work stations 1 and 2 and the industrial controller 5 are provided with control software in advance.
Fig. 2 is a flow chart of a method of an embodiment of the sea-state adaptive ship auto-ballast control method according to the present invention. The control method sequentially performs a workstation main program, an industrial controller program, an automatic ballast subprogram, a water pump control subprogram, a valve control subprogram and a sea condition parameter extraction subprogram, and the following tasks are completed through the programs: (1) automatically judging the working mode according to the instruction, and completing ballast or unloading operation preparation; (2) automatically controlling a ballast water pump and each valve according to the instruction to carry out ship ballast and unloading operation; (3) automatically acquiring sea condition parameters, adjusting ship ballast control parameters according to the sea condition parameters, and keeping the stability of a ship ballast process all the time; (4) the input quantity of the water pumps is automatically controlled according to the pressure of the main pipeline, so that the ballast and unloading operation speed is ensured, and the operation time is saved; (5) and various detection and alarm functions are executed, a hazard source is found in time, and protective measures are automatically taken, so that the safety of the ship is ensured.
The control method comprises the following steps:
1. and (5) initializing the system.
2. Entering the main program of the workstation, and acquiring and setting relevant parameters; starting an industrial controller program, reading various state parameters of the industrial controller program, such as liquid level, hold capacity, longitudinal and transverse inclination, deflection, submergence depth, pipeline pressure, sea state parameters, valve state, water pump state and the like, and storing and displaying the parameters; and then entering sea state self-adaptive automatic ballast operation.
3. And entering the program of the industrial controller, performing related operations of automatic ballast, water pump control, valve control and sea condition parameter extraction, and calling the automatic ballast subprogram.
The specific flow of each of the above-described procedures is described below.
FIG. 3 is a flowchart of a main program of a workstation according to an embodiment of the method of the present invention. The specific process is as follows:
1) starting the system to operate, and detecting the communication state of the system;
2) the industrial controller 5 is operated, the states of all alarm variables are checked, and if the alarm exists, the alarm processing is carried out;
3) initializing an instruction flag bit under the condition of no alarm, and setting the instruction flag to be 0;
4) reading various state parameters of the industrial controller 5, such as liquid level, hold capacity, longitudinal and transverse inclination, deflection, submergence depth, pipeline pressure, sea state parameters, valve state, water pump state and the like, and storing and displaying;
5) checking the operation authority, and waiting for an operator to input an instruction if the machine has the operation authority;
6) the method comprises the following steps that an operator finishes instruction input, an instruction mark is set to be 1, a system sends a corresponding instruction code to an industrial controller 5, the instruction code contains a mode operation command, when the manual mode is selected, the industrial controller 5 enters the manual operation mode, and the industrial controller 5 carries out ballast construction according to the command of the operator of a workstation; when the automatic mode is selected, the industrial controller 5 enters the automatic operation mode, and the controller 5 autonomously performs sea-state adaptive automatic ballast operation;
7) when the execution flag is 0, the industrial controller 5 has executed the corresponding sea-state adaptive automatic ballasting operation, and the system exits, or if not, returns to 2).
Second, as shown in fig. 4, it is a flowchart of a control procedure of the industrial controller according to an embodiment of the method of the present invention. The specific process is as follows:
A) checking the communication state of the system;
B) judging whether a workstation is on line or not, if no workstation is on line or the communication with the workstation fails, interrupting the automatic carrier pressing program, executing a self-protection program, closing a valve and closing a pump to ensure the safety of the ship, and then returning to A); if the workstation is on-line, judging whether an alarm signal exists, if so, interrupting the automatic ballast subprogram, executing the self-protection program and then returning to A). Calling a sea condition parameter extraction subprogram to obtain data such as wind speed, wind direction, wave height, wave frequency and the like under the condition that the workstation is on line and has no alarm;
C) and reading data of a liquid level sensor group/a pressure sensor group/a pump group/a valve group and the like.
D) And calculating the data such as deflection, longitudinal and transverse inclination, submergence depth, cabin capacity and the like according to the acquired data.
E) Waiting for workstation instruction input
F) Judging the instruction zone bit, if the zone bit is 1, reading the instruction code of the workstation, executing the zone bit 1 and calling a corresponding subprogram (a manual ballast subprogram or an automatic ballast subprogram); if the value is 0, the workstation does not finish sending the instruction, and E) is returned at the moment.
G) And after the subprogram is executed, the execution flag position is 0, and E) is turned.
FIG. 5 is a flow chart of an auto-ballasting subroutine of an embodiment of the method of the present invention. In the automatic ballast subprogram, automatically judging a ballast or unloading working mode by comparing the target diving depth set by the workstation main program with the acquired current diving depth, and calling a corresponding valve control program and a corresponding water pump control program; in addition, whether the automatic ballast program is ended or not is judged by judging whether the current diving depth value enters the target diving depth error or not.
When the industrial controller 5 receives the auto-ballasting instruction code, the control logic shown in fig. 5 is followed, and the specific flow is as follows:
s1) reads the command parameter and the system parameter.
S2) subtracting the current ship submergence depth from the target submergence depth (the submergence depth set by the operator) and judging, if the result is more than 0, marking the position 1 of the submergence-surfacing state to represent that a ballast (submergence) mode is executed; if the result is less than 0, the sinking and floating state is marked to be 0, which indicates that the unloading (floating) mode is executed; if the result is equal to 0, the main routine is returned.
S4) operating the water pump control subroutine.
S5) runs the valve control subroutine.
S6) determining whether the current latent depth value enters the target latent depth error band, if not, returning to S4), and if yes, entering the flow S7).
S7) closes the water pump and corresponding valves, and returns to the main routine.
(IV) FIG. 6 is a flowchart of a water pump control subroutine according to an embodiment of the method of the present invention. The water pump control subroutine is performed according to the control logic shown in fig. 6, and the specific flow is as follows:
p1) reads the pump control command.
P2) judging whether the pump running flag is 1, if not, indicating that the water pump is stopped, closing the corresponding group valve, and returning to the process P1). If the pump operation flag is 0, it indicates that the water pump is operating, and then the process proceeds to the procedure P3).
P3), and if the status flag is 1, the mode is ballast (sink) and the process goes to P4). If 0, then the unload (float) mode is entered into process P8).
P4) ballast pump valving, switching the corresponding reversing valve to ballasting (sink) mode.
P5) detects the water mains pressure.
P6) judges whether the pipe pressure is less than the ballast pressure low limit value, if so, the lowest serial number reserve pump is started, and the process returns to the P5). If not, go to flow P7).
P7) determines whether the line pressure is greater than the high ballast pressure limit, and if so, turns off the highest sequence running pump and returns to flow P5). If not, return to flow P1).
P8) unloading the pump valve set, switching the corresponding reversing valve to unloading (floating) mode.
P9) detects the water mains pressure.
P10) determines if the line pressure is less than the unload pressure low limit, and if so, turns on the lowest order reserve pump and returns to flow P9). If not, go to flow P11).
P11) determines if the line pressure is greater than the unload pressure high limit, and if so, turns off the highest order running pump and returns to flow P9). If not, return to flow P1).
FIG. 7 is a flowchart of a valve control subroutine according to an embodiment of the method of the present invention. The process is performed according to the control logic shown in fig. 7, and the specific flow is as follows:
t1) reads the valve control command.
T2) determines whether the valve operation flag is 1, and if not 1, it indicates that the valve is not operable, and closes all branch valves to the ballast tank and returns to flow T1). If the valve operation flag is 0, indicating that the valve is operable, flow T3 is entered).
T3) calculating the valve opening of each branch valve according to the relevant parameters.
T4) sends the calculated opening degree to each branch valve.
T5) reads the actual opening degree of each branch valve.
T6) and whether the actual opening degree and the delivered opening degree match, and if not, returns to the flow T5). If so, return to flow T1).
Fig. 8 is a flowchart of a sea state parameter extraction subroutine according to an embodiment of the method of the present invention. The process is performed according to the control logic shown in fig. 8, and the specific flow is as follows:
H1) and reading the draft liquid level sensor with the angle of 6 and weather radar data.
H2) And judging whether the draft data and the meteorological radar data are normal or not, and if the draft data and the meteorological radar data are abnormal, outputting an alarm and returning to the flow H1). If the data is normal, flow H3 is entered).
H3) And performing fast Fourier transform calculation on each draft data.
H4) And extracting parameters such as wave amplitude/wave frequency and the like according to the calculation result.
H5) And averaging the 6 groups of data to obtain the weighted sea wave parameters.
H6) Extracting meteorological radar data to obtain wind speed and direction parameters, and returning to the process H1).
In the water pump control subprogram, the matching valves around the water pump are operated through the sinking-floating state flag bit; in the water pump control subprogram, the starting number of the water pumps is configured by detecting the pressure of a main pipe; and whether to start the water pump is judged by the pump operation flag bit.
In the valve control subprogram, whether to open the valve is judged by a valve operation flag bit; and whether the valve is opened in place is judged by comparing the actual opening degree of the valve with the issued opening degree.
In the sea state extraction subprogram, sea wave parameters are extracted through fast Fourier operation FFT processing, wind speed and wind direction parameters are extracted through a meteorological radar, and the parameters are implanted into an automatic control strategy; an alarm signal is output immediately when the data is found to be abnormal.
In a word, the invention can automatically judge the working mode according to the instruction, and complete ballast or unloading operation preparation; the ballast water pump and each valve can be automatically controlled according to the instruction to carry out ballast and unloading operation of the ship; the sea condition parameters can be automatically acquired, the ship ballast control parameters are adjusted according to the sea condition parameters, and the stability of the ship ballast process is always kept; the input quantity of the water pumps can be automatically controlled according to the pressure of the main pipeline, the ballast and unloading operation speed is ensured, and the operation time is saved; the system has various detection and alarm functions, can find a hazard source in time and automatically take protective measures, and ensures the safety of the ship.
Claims (3)
1. The utility model provides a sea condition self-adaptation boats and ships automatic ballast system, includes workstation, shielding net twine (12), router, industrial controller (5), field bus (6), water pump group (7), valve group (8), pipeline pressure sensor group (9), liquid level sensor group (10), its characterized in that:
the workstations comprise a first workstation (1) and a second workstation (2), and the router comprises a first router (3) and a second router (4);
the first workstation (1) and the second workstation (2) are respectively connected with the first router (3) through a shielding network cable (12);
the first router (3), the meteorological radar (11) and the second router (4) are connected in a ring shape through a shielding network cable (12);
the industrial controller (5) is connected with the second router (4) through a shielding network cable (12);
the water pump group (7), the valve group (8), the pressure sensor group (9) and the liquid level sensor group (10) are respectively connected with the industrial controller (5) through a field bus (6);
the first workstation (1) and the second workstation (2) adopt a dual-computer redundancy structure;
the first router (3), the meteorological radar (11) and the second router (4) are connected with each other through an annular shielding network cable (12) to form a ring network redundancy structure;
the first workstation (1) and the second workstation (2) are used as upper computers to realize a man-machine interaction function, and the industrial controller (5) is used as a lower computer to realize a system detection and control execution function;
the control program of the workstation, the shielding network cable (12), the router, the industrial controller (5), the field bus (6), the water pump group (7), the valve group (8), the pipeline pressure sensor group (9) and the liquid level sensor group (10) comprises: a workstation main program, an industrial controller program, an automatic ballast subprogram, a water pump control subprogram, a valve control subprogram and a sea condition parameter extraction subprogram;
the sea condition parameter extraction subprogram is used for carrying out fast Fourier transform calculation on the draft data read from the hexagonal draft liquid level sensor so as to extract wave amplitude and wave frequency parameters, extracting wind speed and wind direction parameters through a meteorological radar and implanting the parameters into an automatic control strategy; and an alarm signal is output immediately once the data abnormality is found.
2. A sea condition self-adaptive ship automatic ballast control method is characterized by comprising the following steps:
the control method comprises the steps of sequentially carrying out a workstation main program, an industrial controller program, an automatic ballast subprogram, a water pump control subprogram, a valve control subprogram and a sea condition parameter extraction subprogram;
the control method comprises the following steps:
(2-1) initializing a system;
(2-2) entering the main program of the workstation and checking communication; starting an industrial controller program, reading each state parameter of the industrial controller program, and storing and displaying the state parameters; then, carrying out self-adaptive automatic ballast operation under sea conditions; the state parameters comprise: liquid level, hold capacity, longitudinal and transverse inclination, deflection, submergence depth, pipeline pressure, sea condition parameters, valve state and water pump state;
(2-3) entering the industrial controller program, performing relevant operations of automatic ballast, water pump control, valve control and sea condition parameter extraction, and calling the automatic ballast subprogram;
in the automatic ballast subprogram, automatically judging a ballast or unloading working mode by comparing the target diving depth set by the workstation main program with the acquired current diving depth, and calling a corresponding valve control program and a corresponding water pump control program; in addition, whether the automatic ballast program is ended or not is judged by judging whether the current diving depth value enters a target diving depth error or not;
the specific flow of the sea state parameter extraction subprogram comprises the following steps:
H1) reading data of a hexagonal draft liquid level sensor and meteorological radar;
H2) judging whether the draft data and the meteorological radar data are normal or not, if the draft data and the meteorological radar data are abnormal, performing alarm output and returning to the process H1); if the data is normal, go to flow H3);
H3) performing fast Fourier transform calculation on each draft data;
H4) extracting wave amplitude and wave frequency parameters according to the calculation result;
H5) averaging 6 groups of data to obtain weighted sea wave parameters;
H6) extracting meteorological radar data to obtain wind speed and wind direction parameters, and returning to the process H1);
in the water pump control subprogram, the matching valves around the water pump are operated through the sinking-floating state flag bit; the starting number of the water pumps is configured by detecting the pressure of the main pipe; and whether to start the water pump is judged by the pump operation flag bit.
3. The control method according to claim 2, wherein: in the valve control subprogram, whether to open the valve is judged by a valve operation zone bit; and whether the valve is opened in place is judged by comparing the actual opening degree of the valve with the issued opening degree.
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| CN111339083A (en) * | 2020-02-14 | 2020-06-26 | 大连海事大学 | Ballast water transfer optimization system based on ballast scheme database retrieval |
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Effective date of registration: 20200113 Address after: Room 106, floor 1-2, building 2, Jingxian villa, No.98, Jingkou Road, Jingkou District, Zhenjiang City, Jiangsu Province Applicant after: Jiangsu Yuanwang Instrument Technology Co., Ltd Address before: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Applicant before: Jiangsu University of Science and Technology |
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