CN106647900A - Position and speed double closed loop control system based on inertia measurement for ship - Google Patents
Position and speed double closed loop control system based on inertia measurement for ship Download PDFInfo
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- CN106647900A CN106647900A CN201710116684.5A CN201710116684A CN106647900A CN 106647900 A CN106647900 A CN 106647900A CN 201710116684 A CN201710116684 A CN 201710116684A CN 106647900 A CN106647900 A CN 106647900A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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Abstract
The present invention discloses a position and speed double closed loop control system based on inertia measurement for a ship. The system comprises an aerovane, a gyrocompass, a DGPS module, an attitude sensor, an inertia measurement sensor and a DP controller. The aerovane s connected with a load calculation module, the gyrocompass is connected with a ship course module, the DGPS module is connected with a ship position module, the load calculation module, the ship course module, a ship position module, the ship position module, the attitude sensor and the inertia measurement sensor are all connected with the input end of the DP controller, and the output end of the DP controller is connected with a propeller and a ship in order. The inertia measurement sensor is added, and when the position and speed double closed loop control is employed, the inertia measurement sensor internally integrates a high-precision speedometer so as to facilitate measure the accelerated speeds of the ship at each motion direction and improve the location precision and timeliness of the ship navigation location based on the speed of the ship at each direction obtained through calculation.
Description
Technical field
The invention belongs to automatic control technology field, more particularly to a kind of ship position based on inertia measurement and speed
Degree double closed-loop control system.
Background technology
Dynamic positioning system is a kind of control system of closed loop, and it adopts thruster to provide the effects such as opposing wind, wave, stream
Environmental forces aboard ship, so that ship is maintained at as much as possible on the position required on sea level, its positioning cost will not be with
The depth of water increases and increases, and operates also more convenient.Data process system constantly detects the reality of ship by itself measuring system
Position, stem to target location, bow to deviation, further according to external force of environment affect, distribution is calculated by its control system
Angle of rake thrust, the thrust for producing each propeller to offset ship institute wind-engaging, wave, the ring acted on ship such as flows
Overseas power so that ship be maintained on desired fixed position or along the navigation of expected flight path.Positioned based on data process system
High precision, motility are good, the features such as do not affected by extra large depth, it is applicable to various ocean operation occasions, such as：Drill ship, rise
Heavy-duty machine ship, scientific investigation ship etc..Therefore, in Ship Dynamic Positioning Systems Based, design one kind is needed to realize vessel position and speed
The system of closed loop control, to solve above-mentioned technical problem.
The content of the invention
It is an object of the invention to provide a kind of Position And Velocity double closed-loop control system of the ship based on inertia measurement,
By the systematic difference, defect of the prior art and problem are solved.
To solve above-mentioned technical problem, the present invention is achieved by the following technical solutions：
The present invention is a kind of ship Position And Velocity double closed-loop control system based on inertia measurement, including wind direction and wind velocity
Instrument, gyro compass, DGPS modules, attitude transducer, inertia measurement sensor and DP controllers, wherein anerovane are connected with load
Lotus computing module, the gyro compass is connected with ship course module, and the DGPS modules are connected with vessel position module, loadometer
Calculate module, ship course module, vessel position module, attitude transducer and inertia measurement sensor and be connected to DP controllers
Input, the outfan of the DP controllers is connected with propeller, ship in turn.
Further, the anerovane is used to measure wind velocity signal and wind direction signals, then by LOAD FOR mould
Block analysis reaches DP controllers after processing；The gyro compass is used to provide stem heading reference signal, then by ship course
Module reaches DP controllers；The DGPS modules be used for vessel position signal is provided, then by vessel position module analysis at
DP controllers are reached after reason；The attitude transducer is used to detect the operation attitude of ship, and DP controllers are sent it to then；Institute
Inertia measurement sensor is stated for measuring ship in the acceleration of each direction of motion and sending it to DP controllers, then by DP
Controller is calculated speed of the ship in metres per second；DP controllers are by wind velocity signal, wind direction signals, stem heading reference signal, ship
Position signalling, vessel motion attitude and ship acceleration are carried out after integrated treatment, then control marine propeller thrust and
Ship course.
Further, the DP controllers are computer or single-chip microcomputer or programmable logic controller (PLC), and the attitude is sensed
Device is three axle magnetic course transmitters, and the inertia measurement sensor includes accelerometer and gyroscope.
The invention has the advantages that：
The present invention sets up inertia measurement sensor, and during using Position And Velocity double-closed-loop control, inertia measurement sensor
High precision velocity meter is internally integrated, is conducive to measuring acceleration of the ship in each direction of motion, existed based on ship is calculated
The speed of all directions, the angle of rake thrust of output control is calculated by its control system, realizes the two close cycles of speed and position
Control, negative velocity feedback is internal ring, and location negative is fed back to outer shroud, can accurately control speed and the position of ship, preferably
Different angle of rake characteristics are adapted to, the positioning precision and real-time of Ship Navigation and Positioning is improved.
Certainly, the arbitrary product for implementing the present invention it is not absolutely required to while reaching all the above advantage.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, use required for describing to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can be attached to obtain others according to these accompanying drawings
Figure.
Fig. 1 is a kind of composition frame of ship Position And Velocity double closed-loop control system based on inertia measurement of the present invention
Figure；
Fig. 2 is a kind of principle of ship Position And Velocity double closed-loop control system based on inertia measurement of the present invention
Figure.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, the present invention is a kind of ship Position And Velocity double-closed-loop control system based on inertia measurement
System, including anerovane, gyro compass, DGPS modules, attitude transducer, inertia measurement sensor and DP controllers, its apoplexy
Aerovane is connected with LOAD FOR module, and gyro compass is connected with ship course module, and DGPS modules are connected with vessel position mould
Block, LOAD FOR module, ship course module, vessel position module, attitude transducer and inertia measurement sensor are connected to
The input of DP controllers, the outfan of DP controllers is connected with propeller, ship in turn.
Wherein, anerovane be used for measure wind velocity signal and wind direction signals, then by LOAD FOR module analysis at
DP controllers are reached after reason；Gyro compass is used to provide stem heading reference signal, reaches DP controls by ship course module then
Device processed；DGPS modules are used to provide vessel position signal, reach DP controllers after the process of vessel position module analysis then；
Attitude transducer is used to detect the operation attitude of ship, and DP controllers are sent it to then；Inertia measurement sensor is used to measure
Go out ship in the acceleration of each direction of motion and send it to DP controllers, then speed of the ship in metres per second is calculated by DP controllers；
DP controllers by wind velocity signal, wind direction signals, stem heading reference signal, vessel position signal, vessel motion attitude and
Ship acceleration is carried out after integrated treatment, and the thrust and ship course of marine propeller are controlled then.
As shown in figure 1, wherein DP controllers are computer or single-chip microcomputer or programmable logic controller (PLC), attitude transducer is
Three axle magnetic course transmitters, inertia measurement sensor includes accelerometer and gyroscope.
As shown in Fig. 2 the input variable of the closed-loop control system is ship thrust vectoring, with vessel position negative feedback variable
It is input into after being compared to positioner, carries out position control；Then it is input into after being compared with negative velocity feedback variable again
To speed control, the control of speed is carried out；Next again Jing thrust vectorings distribute module is input into propeller, is finally reached control
The purpose of ship direct of travel processed and gait of march.
One of the present embodiment has particular application as：During using Position And Velocity double-closed-loop control, inertia measurement system is increased
System, the integrated high precision velocity meter of inertia measurement sensor internal can measure acceleration of the ship in each direction of motion, be based on
Calculated speed of the ship in metres per second, the angle of rake thrust of output control is calculated by its control system, realizes velocity close-loop control,
Negative velocity feedback is internal ring, and location negative is fed back to outer shroud, can accurately control the speed of ship, preferably adapts to different propulsions
The characteristic of device, improves the positioning precision and real-time of system.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Specific features, structure, material or the feature described with reference to the embodiment or example is contained at least one enforcement of the present invention
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in any one or more embodiments or example closing
Suitable mode is combined.
Finally it should be noted that present invention disclosed above preferred embodiment is only intended to help illustrates the present invention.It is excellent
Embodiment is selected not have all of details of detailed descriptionthe, it is only described specific embodiment also not limit the invention.Obviously, root
According to the content of this specification, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, be in order to
The principle and practical application of the present invention are preferably explained, so that skilled artisan can be best understood by and utilize
The present invention.The present invention is only limited by claims and its four corner and equivalent.
Claims (3)
1. a kind of Position And Velocity double closed-loop control system of the ship based on inertia measurement, it is characterised in that：Including wind direction wind
Fast instrument, gyro compass, DGPS modules, attitude transducer, inertia measurement sensor and DP controllers, wherein anerovane is connected with
LOAD FOR module, the gyro compass is connected with ship course module, and the DGPS modules are connected with vessel position module, described
LOAD FOR module, ship course module, vessel position module, attitude transducer and inertia measurement sensor are connected to DP controls
The input of device processed, the outfan of the DP controllers is connected with propeller, ship in turn.
2. a kind of Position And Velocity double closed-loop control system of the ship based on inertia measurement according to claim 1, its
It is characterised by：The anerovane be used for measure wind velocity signal and wind direction signals, then by LOAD FOR module analysis at
DP controllers are reached after reason；The gyro compass is used to provide stem heading reference signal, is reached by ship course module then
DP controllers；The DGPS modules are used to provide vessel position signal, are reached after the process of vessel position module analysis then
DP controllers；The attitude transducer is used to detect the operation attitude of ship, and DP controllers are sent it to then；The inertia is surveyed
Quantity sensor is used to measure ship in the acceleration of each direction of motion and send it to DP controllers.
3. a kind of Position And Velocity double closed-loop control system of the ship based on inertia measurement according to claim 1 and 2,
It is characterized in that：The DP controllers are computer or single-chip microcomputer or programmable logic controller (PLC), and the attitude transducer is three
Axle magnetic course transmitter, the inertia measurement sensor includes accelerometer and gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116684.5A CN106647900A (en) | 2017-03-01 | 2017-03-01 | Position and speed double closed loop control system based on inertia measurement for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116684.5A CN106647900A (en) | 2017-03-01 | 2017-03-01 | Position and speed double closed loop control system based on inertia measurement for ship |
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| CN106647900A true CN106647900A (en) | 2017-05-10 |
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| CN201710116684.5A Pending CN106647900A (en) | 2017-03-01 | 2017-03-01 | Position and speed double closed loop control system based on inertia measurement for ship |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290960A (en) * | 2017-06-19 | 2017-10-24 | 江西洪都航空工业集团有限责任公司 | A kind of intelligence multiple control system of large-scale intelligent grass-removing robot |
| CN109491388A (en) * | 2018-11-20 | 2019-03-19 | 深圳市海斯比船艇科技股份有限公司 | A kind of unmanned boat dynamic positioning system |
| CN110209186A (en) * | 2019-07-04 | 2019-09-06 | 广州市上赛电子科技有限公司 | Gyro stability control system with drift compensation |
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| FR2463276A1 (en) * | 1979-08-10 | 1981-02-20 | Eaton Corp | Valve selector for multi-cylinder IC engine - has circuit monitoring load, throttle position and engine speed determining operation of control circuit |
| CN102455693A (en) * | 2010-10-27 | 2012-05-16 | 镇江市亿华系统集成有限公司 | Control network connecting mode of drag-suction dredger power positioning control system |
| CN102999044A (en) * | 2011-09-19 | 2013-03-27 | 王柳艳 | Ship track positioning system |
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Patent Citations (3)
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|---|---|---|---|---|
| FR2463276A1 (en) * | 1979-08-10 | 1981-02-20 | Eaton Corp | Valve selector for multi-cylinder IC engine - has circuit monitoring load, throttle position and engine speed determining operation of control circuit |
| CN102455693A (en) * | 2010-10-27 | 2012-05-16 | 镇江市亿华系统集成有限公司 | Control network connecting mode of drag-suction dredger power positioning control system |
| CN102999044A (en) * | 2011-09-19 | 2013-03-27 | 王柳艳 | Ship track positioning system |
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| 张还: "《三菱FX系列PLC控制系统设计与应用实例》", 30 June 2011, 中国电力出版社 * |
| 郑荣才: "船舶动力定位系统", 《中国惯性技术学报》 * |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290960A (en) * | 2017-06-19 | 2017-10-24 | 江西洪都航空工业集团有限责任公司 | A kind of intelligence multiple control system of large-scale intelligent grass-removing robot |
| CN109491388A (en) * | 2018-11-20 | 2019-03-19 | 深圳市海斯比船艇科技股份有限公司 | A kind of unmanned boat dynamic positioning system |
| CN110209186A (en) * | 2019-07-04 | 2019-09-06 | 广州市上赛电子科技有限公司 | Gyro stability control system with drift compensation |
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