CN108646551A - Heave compensation control system design method - Google Patents
Heave compensation control system design method Download PDFInfo
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- CN108646551A CN108646551A CN201810323103.XA CN201810323103A CN108646551A CN 108646551 A CN108646551 A CN 108646551A CN 201810323103 A CN201810323103 A CN 201810323103A CN 108646551 A CN108646551 A CN 108646551A
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- speed
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- rope
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
- B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
Abstract
The invention discloses a kind of heave compensation control system design methods, pass through compensation of undulation controller or artificial setting lifeboat raising or the speed V of declineShip, ship heave velocity V is obtained by motion reference unitsShip, then it is converted into actual rope folding and unfolding speed V’ Rope；VShipCorresponding voltage signal is Ut, VShipCorresponding voltage letter is Ub, V’ RopeCorresponding voltage signal is UfThree is superimposed to obtain a velocity deviation, by gain, and signal is sent into PID controller, in the controller, the feedback signal of sensor measurement is compared to obtain output quantity with given desired signal, output quantity is set to act in hydraulic system, control action is generated to vessel line speed together with the load signal of lifeboat simultaneously, so that rope speed is remained unchanged as possible, to realize velocity compensation.The method of the present invention is easy, easy to operate, can be that certain basis is established in the R＆D work of the hull form device with compensation of undulation function.
Description
Technical field
The present invention relates to a kind of heave compensation control system design methods.
Background technology
In marine industries chain, ocean platform and ship are most important production, apparatus of transport, and marine material supply,
Cargo movements are then ocean production operations the most basic, and lifeboat folding and unfolding is the emergency operation concerning safety of life at sea, but
Ocean platform and ship are different from land, to make with stormy waves, ocean current it is irregular sway, heave movement, this just makes marine goods and materials
The operations on the sea such as supply, cargo movements, lifeboat folding and unfolding are relatively difficult, are prone to accidents.Therefore, extra large in order to improve these
The safety of upper operation, it is necessary to research and develop compensation of undulation technology, compensation wave agitation, ship or ocean platform shake to correlation
Adverse effect caused by operation on the sea.
Invention content
The purpose of the present invention is to provide the R＆D works that a kind of energy is the hull form device with compensation of undulation function
Establish the heave compensation control system design method on certain basis.
Technical solution of the invention is：
A kind of heave compensation control system design method, it is characterized in that：Heave compensation control system mathematical model is established,
It specifically includes：
5.9 meters of the length of tender, it is 2.3 meters wide, it is 2.7 meters high, it is 2605 kilograms unloaded, it is fully loaded with 25 people, 4480 kilograms of gross weight；
Work sea situation is Pyatyi sea situation, and significant wave height ranging from 2.5m-4m, average value 3.25m, spectral peak periodic regime is 7.7-
17.8s；Fully loaded tender lowering velocity should be greater than being equal to the speed being calculated with following formula：
V=0.4+0.02H (3)
V is that drop puts speed, and H is furred ceiling to water surface distance, and large ship H in 20m or more, is calculated with 20m, obtains speed
Degree is 0.8m/s, therefore setting speed is 0.8m/s；
System is to realize driving, the transmission letter of the corner of hydraulic motor axis to spool displacement by servo-hydraulic motor
Number is：
The corner of hydraulic motor axis is to the transmission function of loading moment：
KqFor flow gain；KceFor total flow pressure coefficient；θmFor the corner of hydraulic motor； DmFor the row of hydraulic motor
Amount；BeFor effective volume elasticity modulus；VtFor hydraulic motor and connecting pipe total volume；JtIt is arrived for hydraulic motor and load conversion
Total inertia on motor drive shaft；TLTake up an official post unexpected loading moment to act on motor drive shaft；XvFor spool displacement；ωhIt is intrinsic for hydraulic pressure
Frequency；ζhFor hydraulic damping ratio；
It can be obtained by formula (3), (4)
In formula (7), (8)Indicate the rotating speed of hydraulic motor axis；
And near system stable operating point system flow Q=Kq×XvBring (7) into, then the rotating speed pair of hydraulic motor axis
The transmission function of flow is：
Formula (8) (9) is the transmission function of the external loading moment of hydraulic motor rotary speed, flow respectively；
So heave compensation control system mathematical model is shown in Fig. 2；
Kw is reel proportionality coefficient, and Kr is sensor ratio coefficient；
Pass through compensation of undulation controller or artificial setting lifeboat raising or the speed V of declineShip, by motion reference list
Member obtains ship heave velocity VShip, ideal rope folding and unfolding speed should be VRope=VShip-VShip, and actually surveyed by speed probe
Obtain motor rotary speed ωm, and by ωmIt can be converted into actual rope folding and unfolding speed V ' with gear reduction ratio, drum diameterRope；VShip
Corresponding voltage signal is Ut, VShipCorresponding voltage letter is Ub, V 'RopeCorresponding voltage signal is Uf, three is superimposed to obtain one
Velocity deviation makes deviation signal amplify by gain, and signal is sent into PID controller, in the controller, sensor measurement
Feedback signal be compared to obtain output quantity with given desired signal, so that output quantity is acted in hydraulic system, at the same with
The load signal of lifeboat generates control action to vessel line speed together, and rope speed is made to remain unchanged as possible, to real
Existing velocity compensation.
The method of the present invention is easy, easy to operate, can be that the R＆D work of the hull form device with compensation of undulation function is established
Fixed certain basis.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is lifeboat folding and unfolding compensation of undulation process schematic.
Fig. 2 is heave compensation control system mathematical model block diagram.
Fig. 3 is to control system simulation model schematic diagram when 0.8m/s rate discharge lifeboat.
Fig. 4 is the output voltage schematic diagram of the PID controller of emulation experiment one.
Fig. 5 is the setting speed and actual speed schematic diagram of emulation experiment one.
Fig. 6 is to control system simulation model schematic diagram when 0.2m/s rate discharge lifeboat.
Fig. 7 is the output voltage schematic diagram of the PID controller of emulation experiment two.
Fig. 8 is the setting speed and actual speed schematic diagram of emulation experiment two.
Fig. 9 is the output voltage schematic diagram of the PID controller of emulation experiment three.
Figure 10 is the setting speed and actual speed schematic diagram of emulation experiment three.
Figure 11 is simulation model schematic diagram when control system encounters emergency case.
Figure 12 is that setting speed is 0.2m/s, Kp=10, Ki=30, and setting speed when Kd=0 is illustrated with actual speed
Figure.
Specific implementation mode
2. problem describes and model foundation
It, all should be equipped in varying numbers for lifesaving or supply on various ships according to the requirement of SOLAS pacts
Canoe, to cope with emergency situations, the ship emulated herein is provided with a certain size tender, ship decentralization or promotion
It is easy to happen and rocks in the process, in some instances it may even be possible to overturn ship, thus be badly in need of finding a kind of suitable control method realization tender
Stablize decentralization and promoted.
2.1 systems realize overall process
Whole system realization will pass through following several stages：
A. initial phase, the stage carry out the initialization of system, measure wave motion parameter, setting tender safety
Distance simultaneously analyzes sea situation grade；
B. tender is transferred with a stabilized speed, then decelerates to home, i.e., the position that will not be photographed by wave
It sets；
C. selection properly enters water opportunity, into the water by tender；
D. tender follows wave to move up and down, and proper moment is selected to break off relations, and completes decentralization process；
E. suspension hook is put down, tender suspension centre is fixed with suspension hook；
F. wave motion situation is observed, suitable water outlet opportunity is selected, tender is promoted and is discharged；
G. it after being discharged, is promoted with a stable speed, the position of arrived ship stops, and member leaves tender, complete
At removal process.
Lifeboat folding and unfolding compensation of undulation process schematic is as shown in Figure 1.
In Fig. 1：Speed probe, 2- motion reference units, 3- tension sensors, 4- acoustic wave instruments.
Velocity compensation is that signal, its main purpose are to make load or hang in order to control with the speed of load or suspension hook heave
The heave velocity of hook is zero or is a definite value.Folding and unfolding operation for lifeboat seeks to keep raising or the speed of decline
Spend VShipFor a definite value (see Fig. 1), the considerations of this is a kind of hommization, if VShipValue change people, the occupant on lifeboat is just
It can feel to jolt.In land, crane will hook speed and hang cargo, it is only necessary to which the speed of reel is kept constant, still
Folding and unfolding lifeboat at sea, ship speed V itselfShipIt is and then velocity of wave translation VWaveDipping and heaving, at this moment to keep lifeboat to receive
Put velocity-stabilization, it is necessary to change the rotating speed V of reelRope, generate a component velocity opposite with ship heave movement.Therefore, it
Ensure that the absolute velocity of lifeboat folding and unfolding is a stable value, the linear velocity of reel should be divided into two component velocities：One
It is the constant speed of lifeboat folding and unfolding, second is that with the big reversed pace of change such as ship heave velocity.VShip、VShip、VRopeRelationship such as
Shown in formula (1).In addition, when lifeboat enters water, to reduce impact of the wave to lifeboat, it is necessary to make lifeboat and wave
The relative velocity of wave movement is small as possible.
VRope=VShip-VShip (1)
2.2PID control
The ratio (P) of deviation, integral (I) and differential (D) are constituted controlled quentity controlled variable by PID control by linear combination, to controlled
Object is controlled, therefore claims PID controller.It is simple in structure, stability is good, reliable operation, easy to adjust[4].It controls former
Reason is as follows：
In formula, KpFor proportionality coefficient；TiFor integration time constant；TdFor derivative time constant.
PID control is widely used in process control and movement is controlled since algorithm is simple, robustness is good and reliability is high
In system, it is particularly suitable for that the deterministic system of mathematical models can be established.
Since tender folding and unfolding control system is a nonlinear and time-varying system, the fluctuation of wave drives ship movement, sea
Upper situation is complicated and changeable, and this paper systems are single-input single-outputs, also improper using complicated control mode, so
Using PID control, the parameter of PID controller is adjusted according to operating mode, sea situation grade, setting instruction etc., is optimal control
System.
The foundation of 2.3 models
5.9 meters of the length of the tender, it is 2.3 meters wide, it is 2.7 meters high, it is 2605 kilograms unloaded, it is fully loaded with 25 people, gross weight 4,480,000
Gram.Work sea situation is Pyatyi sea situation, and significant wave height ranging from 2.5m-4m, average value 3.25m, spectral peak periodic regime is 7.7-
17.8s.According to requirements of convention, fully loaded tender lowering velocity should be greater than being equal to the speed being calculated with following formula：
V=0.4+0.02H (3)
V is that drop puts speed, and H is furred ceiling to water surface distance, and large ship H in 20m or more, is calculated with 20m, obtains speed
Degree is 0.8m/s, therefore setting speed is 0.8m/s；
System is to realize driving, the transmission letter of the corner of hydraulic motor axis to spool displacement by servo-hydraulic motor
Number is：
The corner of hydraulic motor axis is to the transmission function of loading moment：
KqFor flow gain；KceFor total flow pressure coefficient；θmFor the corner of hydraulic motor； DmFor the row of hydraulic motor
Amount；BeFor effective volume elasticity modulus；VtFor hydraulic motor and connecting pipe total volume；JtIt is arrived for hydraulic motor and load conversion
Total inertia on motor drive shaft；TLTake up an official post unexpected loading moment to act on motor drive shaft；XvFor spool displacement；ωhIt is intrinsic for hydraulic pressure
Frequency；ζhFor hydraulic damping ratio；
It can be obtained by formula (3), (4)
In formula (7), (8)Indicate the rotating speed of hydraulic motor axis；
And near system stable operating point system flow Q=Kq×XvBring (7) into, then the rotating speed pair of hydraulic motor axis
The transmission function of flow is：
Formula (8) (9) is the transmission function of the external loading moment of hydraulic motor rotary speed, flow respectively；
So heave compensation control system mathematical model is shown in Fig. 2；
Kw is reel proportionality coefficient, and Kr is sensor ratio coefficient；
Pass through compensation of undulation controller or artificial setting lifeboat raising or the speed V of declineShip, by motion reference list
Member obtains ship heave velocity VShip, ideal rope folding and unfolding speed should be VRope=VShip-VShip, and actually surveyed by speed probe
Obtain motor rotary speed ωm, and by ωmIt can be converted into actual rope folding and unfolding speed V ' with gear reduction ratio, drum diameterRope；VShip
Corresponding voltage signal is Ut, VShipCorresponding voltage letter is Ub, V 'RopeCorresponding voltage signal is Uf, three is superimposed to obtain one
Velocity deviation makes deviation signal amplify by gain, and signal is sent into PID controller, in the controller, sensor measurement
Feedback signal be compared to obtain output quantity with given desired signal, so that output quantity is acted in hydraulic system, at the same with rescue
The load signal of raw ship generates control action to vessel line speed together, and rope speed is made to remain unchanged as possible, to real
Existing velocity compensation.
3 l-G simulation tests and analysis
In order to verify the validity of designed PID control, this section carries out tender using MATLAB/Simulink
Simulation study.According to real system and reference book is browsed, can obtain the numerical value of these parameters, as shown in table 2-1：
Table 2-1 heave compensation control system simulation parameter lists：
Hereafter, velocity compensation problem when lifeboat sets different folding and unfolding speed under Pyatyi sea situation is directed to be imitated
True experiment is analyzed.
(1) emulation experiment one：Running speed of lifeboat 0.8m/s
According to parameter above and Fig. 2 heave compensation control system mathematical models, PID control link is added, can obtain
Fig. 3 lifeboat when 0.8m/s rate discharges to control system simulation model.Since different waves corresponds to different mathematical modulos
Type, herein at the beginning using simple sine wave as input waveform, then the expression formula obtained is：Y=0.75cos (π t/5) (Pyatyi
Under sea situation).Setting speed is 0.8m/s, Kp=1.95, Ki=0.2, Kd=0.4 at this time.
Simulation result is as shown in Figure 4, Figure 5.
From this two it can be seen from the figure thats：When running speed of lifeboat 0.8m/s, the setting linear velocity range of reel is
0.03~1.6m/s and when stable state practical reel linear velocity is 0.2~1.15m/s, PID controller output voltage overshoot
For 0.4V, the deviation maximum of setting speed and actual speed reaches 0.45m/s.Therefore, it is to be in setting speed 0.8m/s
Oneself unite through overshoot, the deviation being still unable to control between setting speed and actual speed.Therefore, to reach the mesh of velocity compensation
, the setting linear velocity of reel cannot be more than 0.96m/s, that is to say that lifeboat setting speed cannot be more than 0.21m/s.Below
Running speed of lifeboat is set as 0.2m/s, carries out simulation analysis.
(2) emulation experiment two：Running speed of lifeboat 0.2m/s
One similar with experiment, system simulation model is as shown in Fig. 6 when running speed of lifeboat 0.2m/s.
It will be appreciated from fig. 6 that system overshoot at this time, is still unable to control the deviation of setting speed and actual speed, this is
Since setting speed is excessive caused, setting speed is changed to 0.2m/s below.
Setting speed is changed to 0.2m/s, Kp=9, Ki=6, Kd=0, Kd=0 here be in order to shield the differential action,
Avoid the incipient over control of system, experimental result as shown in Figure 7, Figure 8.
As seen from the figure, setting speed and actual speed deviation are almost 0, can be good at realizing that tracking carries out speed benefit
It repays.Therefore, differential action can cause system overshoot occur in rigid startup, at steady state effect unobvious.
(3) emulation experiment three：Input waveform is the combination of sine wave and triangular wave
Certainly, wave is irregular movement, thus be also impossible to be rule sine wave, so I am by the wave of input
Shape is changed to be overlapped by sine wave and triangular wave, sees finally whether remain to realize velocity compensation, and setting speed is still 0.2m/
S, Kp=10, Ki=5, Kd=0.Experimental result is as shown in Figure 9, Figure 10.
It is found that no matter what waveform inputted, system can be tracked preferably, velocity compensation be realized, to ensure tender
Stabilization folding and unfolding.
But marine situation is complicated and changeable, it is likely that some emergency situations can be encountered, below I just simulate a kind of wave
The prodigious situation of suddenly change, sees whether the system can also realize tracing compensation well, and the simulation model of control system is such as
Shown in Figure 11.The lowering velocity of tender is still 0.2m/s, Kp=10, Ki=30, Kd=0 at this time.
Setting speed is 0.2m/s, and Kp=10, Ki=30, Kd=0, experimental result is as shown in Figure 12.
By analogous diagram it is found that even if can preferably be realized if encountering emergency situations system tracing compensation this if fully say
It is correct that the parameter PID control system, which is illustrated,.
To sum up, experimental verification system is setting correct pid parameter, can realize preferable tracing compensation,
It also demonstrates and what waveform no matter is inputted, system also can be tracked correctly, in addition, when you encounter an unexpected situation, PID is changing ginseng
After number, system still has preferable compensation effect, so the PID controller of correct parameter is to realize the decentralization of stablizing of tender
It is right as rain.
4 conclusions
Article has studied the stability control problem of ship folding and unfolding tender, it is proposed that PID controller, the controller are examined
Uncertain factor is considered.Simulation result shows the uncertain factor and situation at consideration sea that can be fine using PID control, comes
It is adjusted parameter, realizes and only has little deviation between setting speed and actual speed, and then realize velocity compensation, control
The stabilization folding and unfolding of tender, the results show validity of the controller.
Claims (1)
1. a kind of heave compensation control system design method, it is characterized in that：Heave compensation control system mathematical model is established, specifically
Including：
5.9 meters of the length of tender, it is 2.3 meters wide, it is 2.7 meters high, it is 2605 kilograms unloaded, it is fully loaded with 25 people, 4480 kilograms of gross weight；Work sea
Condition is Pyatyi sea situation, and significant wave height ranging from 2.5m-4m, average value 3.25m, spectral peak periodic regime is 7.7-17.8s；It is fully loaded
Tender lowering velocity should be greater than being equal to the speed being calculated with following formula：
V=0.4+0.02H (3)
V is that drop puts speed, and H is furred ceiling to water surface distance, and large ship H in 20m or more, is calculated with 20m, and obtaining speed is
0.8m/s, therefore setting speed is 0.8m/s；
System is to be to the transmission function of spool displacement to realize driving, the corner of hydraulic motor axis by servo-hydraulic motor：
The corner of hydraulic motor axis is to the transmission function of loading moment：
KqFor flow gain；KceFor total flow pressure coefficient；θmFor the corner of hydraulic motor；DmFor the discharge capacity of hydraulic motor；BeFor
Effective volume elasticity modulus；VtFor hydraulic motor and connecting pipe total volume；JtFor on hydraulic motor and load conversion to motor drive shaft
Total inertia；TLTake up an official post unexpected loading moment to act on motor drive shaft；XvFor spool displacement；ωhFor hydraulic natural frequency；ζhFor
Hydraulic damping ratio；
It can be obtained by formula (3), (4)
In formula (7), (8)Indicate the rotating speed of hydraulic motor axis；
And near system stable operating point system flow Q=Kq×XvBring (7) into, then the rotating speed of hydraulic motor axis is to flow
Transmission function be：
Formula (8) (9) is the transmission function of the external loading moment of hydraulic motor rotary speed, flow respectively；
So obtaining heave compensation control system mathematical model；
Kw is reel proportionality coefficient, and Kr is sensor ratio coefficient；
Pass through compensation of undulation controller or artificial setting lifeboat raising or the speed V of declineShip, obtained by motion reference units
Ship heave velocity VShip, ideal rope folding and unfolding speed should be VRope=VShip-VShip, and motor is actually measured by speed probe
Rotational speed omegam, and by ωmIt can be converted into actual rope folding and unfolding speed V ' with gear reduction ratio, drum diameterRope；VShipCorresponding electricity
Pressure signal is Ut, VShipCorresponding voltage letter is Ub, V 'RopeCorresponding voltage signal is Uf, three is superimposed to obtain a velocity deviation,
By gain, deviation signal is made to amplify, and signal is sent into PID controller, in the controller, the feedback signal of sensor measurement
Be compared to obtain output quantity with given desired signal, output quantity made to act in hydraulic system, at the same with the load of lifeboat
Signal generates control action to vessel line speed together, so that rope speed is remained unchanged as possible, to realize velocity compensation.
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| CN112904742A (en) * | 2021-01-15 | 2021-06-04 | 上海海事大学 | Active compensation control method for irregular waves |
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