CN110254678A - A kind of scientific surveying ship with dynamic positioning system - Google Patents
A kind of scientific surveying ship with dynamic positioning system Download PDFInfo
- Publication number
- CN110254678A CN110254678A CN201910400240.3A CN201910400240A CN110254678A CN 110254678 A CN110254678 A CN 110254678A CN 201910400240 A CN201910400240 A CN 201910400240A CN 110254678 A CN110254678 A CN 110254678A
- Authority
- CN
- China
- Prior art keywords
- ship
- controller
- positioning system
- signal
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/024—Handle-bars; Posts for supporting handle-bars, e.g. adjustable posts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
Abstract
The invention discloses a kind of scientific surveying ships with dynamic positioning system, dynamic positioning system including hull and on hull, dynamic positioning system includes measurement part, control section and thruster part, control section includes controller, and distinguish manual control unit and automatic control unit connected to the controller, and the information for acquiring measurement part being connected respectively with controller carries out processing and control instruction is exported to thruster part to the computer software to realize scheduled ship's fix control or motion control, control section further includes the living load detection system that the power for being exported to the main thruster for receiving control instruction and secondary propeller carries out real-time monitoring.It can ensure to keep propulsion system energy consumption minimum under the premise of dynamic positioning system securely and reliably works, the revolving speed of propeller can be by security constraint, therefore can effectively protect thruster system and damage because of excess load.
Description
Technical field
The present invention relates to ship control technical field more particularly to a kind of scientific surveying ships with dynamic positioning system.
Background technique
Scientific surveying ship refers to the ship for investigating the special duties such as marine hydrology, geology, meteorology, biology, with
The development of ocean scientific investigation technology, Ship Dynamic Positioning Systems Based be applied to operation on the sea ship (ocean expedition more and more widely
Ship, semi-submerged ship etc.), offshore platform (marine drilling platform etc.), underwater hiding-machine (ROV) and military boats and ships (minelayer, submarine lash ship
Deng).It is generally by position measuring system, control system, push system three parts composition.Position measuring system (sensor) measurement
Current accommodation, for controller according to the deviation at measurement accommodation and desired value, calculating resistance environmental disturbances power (wind, stream, wave) makes ship
Thrust size and Orientation needed for oceangoing ship is restored to desired locations, push system carry out energy management and to the thrust of each thruster into
Row distribution, the thrust that thruster generates make ship (platform) keep the course and accommodation that set under the interference of distinguished and admirable wave.Ship
Dynamic positioning (dynamic positioning, DP) system had gradually developed from the seventies, examined in ocean engineering, science
Examining equal fields has important purposes.With the maturation of marine electric power propulsion and the development of Theory of Automatic Control, dynamic positioning system
The performance of system is also continuously improved.Ship Dynamic Positioning Systems Based is a kind of closed-loop control system, it drives ship by control system
Propeller come offset wind, wave, stream the effects of in the external force of environment on ship, thus make ship be maintained at sea level requirement position
On.DP constantly detects the physical location of ship and the deviation of target position by measuring system, further according to the influence of external force of environment
The size that ship of sening as an envoy to is restored to thrust needed for target position is calculated, and then thrust distribution is carried out to each propeller of full ship, is made
Each propeller generates corresponding thrust to overcome the interference of the external force of environment such as wind, wave, stream, make ship be maintained at certain determine position or
It is navigated by water along certain preset flight path.DP is widely used in the fixed point mooring of operation on the sea ship and offshore platform, high with positioning accuracy,
Flexibility is good, mobility strong, is suitable for many advantages, such as a variety of sea situation operations, receives significant attention.
Dynamic positioning system is made of components such as accommodation display instrument, electronic computer control mechanism and propellers.When work,
Electronic computer can automatically issue control signal, change the fortune of propeller according to the accommodation numerical value that accommodation instrument is measured at any time
Turn the spiral shell square of direction, revolving speed or blade, to adjust accommodation.Some dynamic positioning systems can also be sent out in advance according to the variation of wind-force
Signal offsets the influence of wind-force out.When dynamic positioning, by computer transmission, the time of a few minutes is only needed, just underway
Ship steadily is parked in scheduled position.After the system is opened, position sensor, course transmitter, attitude transducer, wind sensing
The instruments such as device, ocean current sensor start real-time on-site data measured, and these data informations are transferred to computer in time, calculate
Machine again compares it with the predetermined parking place data of storage, finds out difference, then issues and instructs to each propeller, adjusts it and push away
Power size and Orientation carries out difference amendment and comes to a complete stop until reaching predetermined position.The system applies Differential Global Positioning System,
The advanced technologies such as digital filtering technique and optimum control software, make its positioning accuracy within several meters, reach elder generation, the world today
Water inlet is flat.The system is not only applicable to the positioning that brings to, but also can apply to the boat between ship and ship away from fixation.Underway replenishment ship exists
When carrying out supply work between traveling, need safe and reliable boat away from keeping manipulating, which passes through to the automatic of marine propeller
Accurate control makes movement overseas supply no longer become highly difficult routine.In addition, the system is also applied to bottom cable laying, maintenance,
Topple over rock, adopt sand and dredge, crane ship operation, shuttle tanker, diving, ROV, salvage lifesaving and deep-sea oil are exploited
The platform positioning of equal ocean operations.A kind of dynamic positioning system of platform supply vessel of 103507938 A of CN, the dynamic positioning
System includes that gyro compass device, anemoclinograph device, Ship dynamic situation sensor device, global differential positioning device, laser are fixed
Position device and underwater sound sensor, gyro compass device, anemoclinograph device, Ship dynamic situation sensor device, global differential positioning
Device, laser locating apparatus and underwater sound sensor are connected with master unit, and master unit is also connected with central processing unit and propulsion
Device controls case apparatus, and propeller control case apparatus includes multiple control cabinets, and each control cabinet is respectively connected with propeller, propeller control
Box forming apparatus is also connected with independent united control device.107554721 A of CN discloses a kind of dynamic localization method for ship.It should
Actuating mechanism controls are placed in " Dynamic Positioning Control System " mode, utilize measurement by method choice power control system to required mode
Equipment acquires ship and environmental information, is issued and is instructed by power-positioning control system, realizes the dynamic of ship by each executing agency
Power positioning.
The afloat kinetic characteristics of ship are difficult to be described with accurate mathematical model, and wind, wave, stream etc. it is external with
The statistical property of machine interference changes a lot also with different sea situations and is difficult to predict.How to dynamic positioning system
Carrying out control is one of the critical issue that dynamic positioning system needs to solve.Applied to operation on the sea ship and ocean platform power
The main performance index of positioning system includes: the influence of dynamic positioning system energy quick response outside environmental elements, protects ship
It holds in expected position, bow into range or is travelled along expected track, and ensuring the safe and reliable work of dynamic positioning system
Make propulsion system energy consumption minimum under the premise of work.Under there is a requirement that, function is mainly considered when formulating the control strategy of dynamic positioning system
Rate consumption problem, the power quantity that ship can generate are limited, and thruster can only use a part therein.With sea situation,
The quantity of the difference of homework type, the number of military service engine and fault condition, the power distributed is also different, therefore,
The control instruction that executing agency obtains is necessarily limited.It is saturated, is controlling to reach highest performance without actuator
The restrict of power and the redundancy of system are all considered as in device processed and thrust distribution system.
In conclusion had a single function at present applied to the dynamic positioning system on ship can not realize manual mode,
Flexible switching between automatic mode, individual automatic mode tends not to meet real work needs, and propulsion system exists
Power Control Problem after being connected to instruction can not be resolved always, that is to say, that how ensure dynamic positioning system peace
Keep propulsion system energy consumption minimum under the premise of full reliably working, how effective protection, which executes system, avoids excess load from damaging, at
In order to which current driving force positioning system is in marine vessel applications field technical problem urgently to be solved.
Summary of the invention
In view of the deficienciess of the prior art, being realized manually, certainly the technical problem to be solved by the invention is to provide a kind of
Dynamic control flexibly switching and cooperation, is capable of the thruster power of reasonable distribution, is ensuring to reach highest performance without holding
Row device saturation, the science with dynamic positioning system for avoiding the peak value thrust generated by electric propulsion that from capable of damaging gear-box are examined
Examine ship.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of section with dynamic positioning system
Research ship, the dynamic positioning system including hull and on hull are learned, the dynamic positioning system includes measurement part, control
System part and thruster part, thruster part include main thruster and secondary propeller, and the measurement portion point includes one for adopting
Collect gyro compass of the ship bow to signal, one for acquiring the anemoclinograph of ship local environment wind direction and wind velocity signal, and one is used for
The attitude transducer of Ship dynamic situation reference signal is provided, one for receiving the Differential Global Positioning System of satellite positioning signal, and one
For determining the acoustic positioning system of water-flow signal, the control section includes controller, and connected to the controller respectively
Manual control unit and automatic control unit, and the information for that will measure part acquisition being connected respectively with controller carry out
It handles and exports control instruction to thruster part to realize scheduled ship bow to control, location control or motion control
Computer software, the control section further include one for defeated to the main thruster for receiving control instruction and secondary propeller institute
Power out carries out the living load detection system of real-time monitoring, and the living load detection system detects main thruster or pair
Any one sends a signal to controller when being more than rated power with propeller, and controller is positioned to after receiving signal according to different
It asks, in conjunction with the measurement real time information that receives of part, after computer software is handled, sending reduces the signal of load to phase
The main thruster or secondary propeller answered, while sending and mentioning high-power CRANK PULSES to the main thruster of non-excess load or secondary propulsion
Device changes simultaneously vessel position or bow in balanced action in the perturbed force and disturbing moment of ship, realization dynamic positioning of vessels
Or under the premise of movement, the compensation control of main thruster or secondary propeller power is carried out.
The above-mentioned scientific surveying ship with dynamic positioning system, the manual control unit include one for realizing ship
Front and rear, left and right and instantaneous displacement manual joystick, manual joystick pass through shift simulation input unit and controller signals
Connection further includes one sending a signal to controller when manual joystick is by displacement signal input displacement simulation input unit, is controlled
Device processed sends automatic control mode switching module of the pause signal to automatic control unit, the automatic control mode switching module
It is connect with controller signals.
The above-mentioned scientific surveying ship with dynamic positioning system, the automatic control unit include moving parameter input mould
Block, the moving parameter input module are connect with controller signals, further include one when moving parameter is input to parameter input module
When send a signal to controller, controller sends MANUAL CONTROL mode switching module of the pause signal to manual control unit, institute
MANUAL CONTROL mode switching module is stated to connect with controller signals.
The above-mentioned scientific surveying ship with dynamic positioning system, the computer software pass through comparator continuously
The signal of measurement fractional transmission is comprehensively compared with ship status parameter, is showing that one acts on ship and becomes in real time
After the vector external force or error amount of change, controller constantly carries out operation according to vector external force and error amount, setting index, together
When power and torque command are issued to main thruster and secondary propeller, the control by actuator to main thruster and secondary propeller,
The vector for generating each propeller closes thrust with the variation of vector external force and changing becomes the thrust of ship with outer active force
The state of one balance.
The above-mentioned scientific surveying ship with dynamic positioning system, the moving parameter and setting location parameters are input to certainly
After dynamic control unit, computer software passes through the real time datas such as wind, wave, stream of measurement part acquisition, and automatic calculating is simultaneously raw
At the ship trajectory in arrival setting place, and propulsion order is sent to thruster part, ship accurately presses desired trajectory low speed
Prebriefed pattern high speed operation is pressed in movement, realizes the automatic tracking navigation of ship
The above-mentioned scientific surveying ship with dynamic positioning system, under high speed Track control mode, ship bow Xiang Youji
Calculation machine software systems calculate determination automatically according to course line, the speed of a ship or plane and external environment power, and at course line turning, system is automatically determined
Turning radius and ship's speed.
The above-mentioned scientific surveying ship with dynamic positioning system, the gyro compass collect ship bow to sending after signal
To controller, computer software is generated control signal compared with setting course by actual heading and is output to propeller,
Act propeller, the deviation for keeping ship actual heading and setting between course is minimum, carries out Heading control.
The above-mentioned scientific surveying ship with dynamic positioning system, the controller receive the various biographies of measurement portion collection
After sensor data, by computer software to the physical location and bow for estimating ship after received data processing
To transmission driving ship is automatically along the signal instruction of one or several preset set points traveling to thruster portion
Point.
The above-mentioned scientific surveying ship with dynamic positioning system, the controller receive the water that acoustic positioning system is collected
After lower target range and bearing signal, computer software is according to current ship range-azimuth signal compared with submarine target
Compared with calculating to obtain makes ship automatically track underwater moving target and keep the range-azimuth of ship and submarine target constant
For moving parameter to controller, controller, which is sent, promotes order to thruster part, carries out underwater target tracking.
The present invention has the advantages that the scientific surveying ship of dynamic positioning system is: since the power quantity that ship can generate is
Limited, thruster can only use a part therein.With sea situation, homework type, the number of military service engine and failure feelings
The quantity of the difference of condition, the power distributed is also different, and therefore, the control instruction that executing agency obtains must be limited
System.It is saturated to reach highest performance without actuator, is all considered as power in controller and thrust distribution system
Restrict, the living load detection system that the present invention uses to the main thruster that receives control instruction and secondary can promote
Power that device is exported carries out real-time monitoring, main thruster or secondary propeller any one send a signal to control when being more than rated power
Device processed, controller receive after signal according to different positioning requirements, in conjunction with the real time information that measurement part receives, by computer
After software systems processing, sending reduces the signal of load to corresponding main thruster or secondary propeller, while sending raising power
CRANK PULSES to non-excess load main thruster or secondary propeller, change simultaneously vessel position or bow to, balanced action in
The perturbed force and disturbing moment of ship under the premise of realizing dynamic positioning of vessels or movement, carry out main thruster or secondary propeller
The compensation of power controls.It can ensure to keep propulsion system energy consumption minimum under the premise of dynamic positioning system securely and reliably works, realize,
The revolving speed of smooth thrust variation, propeller can be by security constraint, therefore can effectively protect thruster system due to excess load
Damage.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the circuit structure block diagram of this dynamic positioning system.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in further details the present invention；
As shown in Figure 1, 2, a kind of scientific surveying ship with dynamic positioning system, including hull 1 and be set to hull 1 on
Dynamic positioning system, the dynamic positioning system include measurement part, control section, thruster part, thruster part includes
Main thruster 2 and secondary propeller 3, measurement portion point include one for acquiring gyro compass of the ship bow to signal, and one is used for acquisition vessel
The anemoclinograph of oceangoing ship local environment wind direction and wind velocity signal, one for providing the attitude transducer of Ship dynamic situation reference signal, and one
For receiving the Differential Global Positioning System of satellite positioning signal, one for determining the acoustic positioning system of water-flow signal, control
Part includes controller, and manual control unit connected to the controller and automatic control unit respectively, and respectively with control
The information for acquiring measurement part that device processed is connected handle and export control instruction to thruster part to realize
Scheduled ship bow to control, location control or motion control computer software, control section further include one for pair
The power that the main thruster 2 and secondary propeller 3 for receiving control instruction are exported carries out the living load detection system of real-time monitoring,
Living load detection system detects main thruster 2 or secondary propeller 3, and any one sends a signal to control when being more than rated power
Device, controller receives after signal according to different positioning requirements, soft by computer in conjunction with the real time information that measurement part receives
After the processing of part system, sending reduces the signal of load to corresponding main thruster or secondary propeller, at the same send mention it is high-power
CRANK PULSES to non-excess load main thruster 2 or secondary propeller 3, change simultaneously vessel position or bow to, balanced action in
The perturbed force and disturbing moment of ship under the premise of realizing dynamic positioning of vessels or movement, carry out main thruster 2 or secondary propeller
The compensation of 3 power controls.
Gyro compass in the present invention is also known as gyrocompass, it can automatically and continuously provide the course signal on naval vessel, and pass through
Course signal is transmitted to each position that naval vessel needs course signal by course sending device.To meet ship navigation and defense preparations
The requirement of system is the essential precise navigation equipment in naval vessel, referred to as " eyes " on naval vessel.A complete set of equipment by master compass,
Repeater compass and attached instrument three parts composition, core component is the gyro sphere in master compass.Anemoclinograph is instantaneous for measuring
Wind speed and direction has automatic display function.Mainly by strut, weathercock, vane, wind speed and direction sensor group is at the direction of weathercock
It is to come wind direction, wind speed is calculated according to the revolving speed of vane.So being also wind-cup type anerovane.Attitude transducer is
High performance three-dimensional motion attitude measuring system based on MEMS technology.It includes three-axis gyroscope, three axis accelerometer, three axis electricity
The motion sensors such as sub- compass obtain 3 d pose and orientation by temperature-compensating by embedded low-power consumption arm processor
Etc. data.Using three-dimensional algorithm and special data integration technology based on quaternary number, output is indicated in real time with quaternary number, Eulerian angles
Zero shift 3 d pose bearing data.LPMS series and iAHRS-M0 attitude transducer can be embedded into model plane unmanned plane extensively,
Robot, mechanical holder, shipping vehicle, ground and underwater equipment, virtual reality, the needs such as human motion analysis independently measure three
In the product facility for tieing up posture and orientation.Above-mentioned electronic equipment is the prior art, few herein to explain.
To realize the flexible control mode of ship, ship control efficiency is improved, the present invention is provided with manual control unit, hand
Dynamic control unit includes one for realizing the front and rear, left and right of ship and the manual joystick of instantaneous displacement, and manual joystick passes through
Shift simulation input unit is connect with controller signals, further includes one when manual joystick is defeated by the simulation of displacement signal input displacement
Controller is sent a signal to when entering unit, the automatic control mode that controller sends pause signal to automatic control unit switches mould
Block, the automatic control mode switching module are connect with controller signals.The work automatically switched manually with automatic both of which
Mode can effectively improve efficient, quick control efficiency of the ship under the specific demands such as entering and leaving port.
Automatic control unit includes moving parameter input module, and the moving parameter input module and controller signals connect
It connects, further includes one sending a signal to controller when moving parameter is input to parameter input module, controller sends pause signal
To the MANUAL CONTROL mode switching module of manual control unit, the MANUAL CONTROL mode switching module and controller signals connect
It connects.
Under sea situation complicated and changeable, ship needs to complete various operations, while also to keep the safety of ship itself steady
It is qualitative.Thus especially seem important to the control of ship, dynamic positioning system is to the control of ship mainly by its computer software
System is completed.Sensing system, which measures the accommodation longitude and latitude of ship, bow, influences external force and reference object to, environment
Real-time parameter is transferred to computer by the parameters such as relative position, and dynamic positioning computer software is continuous by its comparator
The signal that ground carrys out sensor transmissions is comprehensively compared with ship status parameter, is showing that one acts on ship and becomes in real time
After the vector external force or error amount of change, operation is constantly carried out according to vector external force and error amount, setting index by controller,
Power and torque command are issued to each propeller simultaneously, the control by actuator to each propeller generates each propeller
Vector closes the shape that thrust changes with the variation of vector external force and then the thrust of ship and outer active force is made to become a balance
State, come achieve the purpose that maintain ship bow to and accommodation it is stable.The present invention uses the computer software by comparing
Continuously the signal of measurement fractional transmission is comprehensively compared with ship status parameter for device, is showing that acts on a ship
After the vector external force or error amount of upper real-time change, controller according to vector external force and error amount, setting index constantly into
Row operation, while power and torque command are issued to main thruster and secondary propeller, by actuator to main thruster 2 and secondary propulsion
The control of device 3, the vector for generating each propeller close thrust and change the thrust for making ship and outer with the variation of vector external force
Active force becomes the state of a balance.Position control (HOLD POSITION MODE) is generated by position signal frame of reference
Position signal vessel position is automatically maintained on a fixed point.In this control mode, the physical location of ship depends on
In position signal frame of reference, control signal is generated compared with setting position by physical location and is output to propeller, makes to push away
It is acted into device, keeps the deviation between ship physical location and setting position minimum, reach position control purpose.
Automatic tracking navigate by water when, moving parameter and setting location parameters be input to automatic control unit after, computer software
System calculates automatically by real time datas such as wind, wave, the streams of the acquisition of measurement part and generates the navigation rail for reaching setting place
Mark, and propulsion order is sent to thruster part, ship accurately presses the movement of desired trajectory low speed or by prebriefed pattern high-speed aircraft
Row realizes that the automatic tracking of ship navigates by water under high speed Track control mode, and ship bow is to by the automatic root of computer software
Determination is calculated according to course line, the speed of a ship or plane and external environment power, at course line turning, system automatically determines turning radius and ship's speed.
For automatic bow to when navigation control, gyro compass collects ship bow to being sent to controller, computer software after signal
System is generated control signal compared with setting course by actual heading and is output to propeller, and propeller is acted, and keeps ship
Deviation between oceangoing ship actual heading and setting course is minimum, carries out Heading control.Heading control (HOLD HEADIND MODE) makes
Ship is automatically held on fixed course.Course reference signal is from two sets of gyro compasses.In this control mode, ship
Actual heading depend on two sets gyro compasses, generated compared with setting course by actual heading control signal be output to propulsion
Device acts propeller, and the deviation for keeping ship actual heading and setting between course is minimum, reaches Heading control purpose.
After controller receives the various sensing datas of measurement portion collection, by computer software to received
Data processing after estimate ship physical location and bow to, if send driving ship automatically along preset one or
A signal instruction for set point traveling is done to thruster part.
When underwater target tracking, after controller receives the submarine target range-azimuth signal that acoustic positioning system is collected,
Computer software according to current ship range-azimuth signal compared with submarine target, calculate obtain make ship automatically with
Track underwater moving target and the moving parameter for keeping the range-azimuth of ship and submarine target constant are to controller, controller
It sends and promotes order to thruster part, carry out underwater target tracking.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, within the essential scope of the present invention, the variations, modifications, additions or substitutions made all should belong to the present invention
Protection scope.
Claims (9)
1. a kind of scientific surveying ship with dynamic positioning system, the dynamic positioning system including hull and on hull,
The dynamic positioning system includes that measurement part, control section and thruster part, thruster part include main thruster and pair
Propeller, it is characterised in that: the measurement portion point includes one for acquiring gyro compass of the ship bow to signal, and one is used for acquisition vessel
The anemoclinograph of oceangoing ship local environment wind direction and wind velocity signal, one for providing the attitude transducer of Ship dynamic situation reference signal, and one
For receiving the Differential Global Positioning System of satellite positioning signal, one for determining the acoustic positioning system of water-flow signal, described
Control section includes controller, and manual control unit and automatic control unit connected to the controller respectively, and respectively
Be connected with controller for will measurement part acquisition information carry out processing and by control instruction export to thruster part with
Realize computer software of the scheduled ship bow to control, location control or motion control, the control section further includes
The living load that one power for being exported to the main thruster for receiving control instruction and secondary propeller carries out real-time monitoring is examined
Examining system, the living load detection system detects main thruster or secondary propeller, and any one sends letter when being more than rated power
Number to controller, controller passes through according to different positioning requirements in conjunction with the real time information that measurement part receives after receiving signal
After computer software processing, sending reduces the signal of load to corresponding main thruster or secondary propeller, while sending and mentioning
High-power CRANK PULSES changes simultaneously vessel position or bow to balancing to the main thruster or secondary propeller of non-excess load
The perturbed force and disturbing moment of ship are acted on, under the premise of realizing dynamic positioning of vessels or movement, carries out main thruster or pair
The compensation of propeller power controls.
2. the scientific surveying ship according to claim 1 with dynamic positioning system, it is characterized in that: described manually control list
Member includes one for realizing the front and rear, left and right of ship and the manual joystick of instantaneous displacement, and manual joystick passes through shift simulation
Input unit is connect with controller signals, further includes one when manual joystick is by displacement signal input displacement simulation input unit
Controller is sent a signal to, controller sends the automatic control mode switching module of pause signal to automatic control unit, described
Automatic control mode switching module is connect with controller signals.
3. the scientific surveying ship according to claim 1 with dynamic positioning system, it is characterized in that: the automatic control is single
Member includes moving parameter input module, and the moving parameter input module is connect with controller signals, further includes one when mobile ginseng
Number sends a signal to controller when being input to parameter input module, and it is manual to manual control unit that controller sends pause signal
Control mode switch module, the MANUAL CONTROL mode switching module are connect with controller signals.
4. the scientific surveying ship according to claim 1 with dynamic positioning system, it is characterized in that: the computer software
System by comparator continuously to measurement fractional transmission come signal be comprehensively compared with ship status parameter, obtaining one
After a vector external force for acting on real-time change on ship or error amount, controller is according to vector external force and error amount, setting
Index constantly carries out operation, while issuing power and torque command to main thruster and secondary propeller, by actuator to featured
Into the control of device and secondary propeller, the vector for generating each propeller closes thrust with the variation of vector external force and changing makes ship
Thrust and outer active force become one balance state.
5. the scientific surveying ship according to claim 1 with dynamic positioning system, it is characterized in that: the moving parameter and
After setting location parameters are input to automatic control unit, computer software is real by wind, wave, the stream of the acquisition of measurement part etc.
When data, calculate automatically and generate the ship trajectory for reaching setting place, and send propulsion order to thruster part, ship essence
It really presses the movement of desired trajectory low speed or by prebriefed pattern high speed operation, realizes the automatic tracking navigation of ship.
6. the scientific surveying ship according to claim 5 with dynamic positioning system, it is characterized in that: in high speed Track control
Under mode, ship bow calculates determination automatically according to course line, the speed of a ship or plane and external environment power to by computer software, in course line
Turning, system automatically determine turning radius and ship's speed.
7. the scientific surveying ship according to claim 5 with dynamic positioning system, it is characterized in that: the gyro compass acquires
Controller is sent to after to ship bow to signal, computer software generates control by actual heading compared with setting course
Signal processed is output to propeller, acts propeller, and the deviation for keeping ship actual heading and setting between course is minimum, carries out
Heading control.
8. the scientific surveying ship according to claim 5 with dynamic positioning system, it is characterized in that: the controller receives
After the various sensing datas for measuring portion collection, by computer software to being estimated after received data processing
The physical location and bow of ship are to transmission driving ship is automatically along the letter of one or several preset set points traveling
Number instruction is to thruster part.
9. the scientific surveying ship according to claim 4 with dynamic positioning system, it is characterized in that: the controller receives
After the submarine target range-azimuth signal that acoustic positioning system is collected, computer software is according to current ship distance and side
Compared with submarine target, calculate to obtain makes ship automatically track underwater moving target and keeps ship and underwater mesh position signal
For the constant moving parameter of target range-azimuth to controller, controller, which is sent, promotes order to thruster part, carries out underwater
Target following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400240.3A CN110254678A (en) | 2019-05-13 | 2019-05-13 | A kind of scientific surveying ship with dynamic positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400240.3A CN110254678A (en) | 2019-05-13 | 2019-05-13 | A kind of scientific surveying ship with dynamic positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110254678A true CN110254678A (en) | 2019-09-20 |
Family
ID=67914716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910400240.3A Pending CN110254678A (en) | 2019-05-13 | 2019-05-13 | A kind of scientific surveying ship with dynamic positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110254678A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689685A (en) * | 2012-06-01 | 2012-09-26 | 哈尔滨工程大学 | Dynamic positioning vessel thruster load limit method based on on-line available power |
| CN103576555A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Path tracking guiding control method of dynamic positioning ship |
| CN103777635A (en) * | 2014-01-13 | 2014-05-07 | 哈尔滨工程大学 | Robust self-adaptive track tracking control system for dynamic positioning vessel |
| CN107422344A (en) * | 2017-08-10 | 2017-12-01 | 广州中船文冲船坞有限公司 | Support the scientific investigation ship power positioning system structure of bathyscaph |
| CN108363302A (en) * | 2018-02-13 | 2018-08-03 | 集美大学 | A kind of dynamic positioning of vessels bottom propeller control method based on harmony search |
| CN108663235A (en) * | 2018-04-13 | 2018-10-16 | 国家海洋局第海洋研究所 | Realize scientific investigation ship of the boat process to deep-sea superficial water continuous sampling |
-
2019
- 2019-05-13 CN CN201910400240.3A patent/CN110254678A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689685A (en) * | 2012-06-01 | 2012-09-26 | 哈尔滨工程大学 | Dynamic positioning vessel thruster load limit method based on on-line available power |
| CN103576555A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Path tracking guiding control method of dynamic positioning ship |
| CN103777635A (en) * | 2014-01-13 | 2014-05-07 | 哈尔滨工程大学 | Robust self-adaptive track tracking control system for dynamic positioning vessel |
| CN107422344A (en) * | 2017-08-10 | 2017-12-01 | 广州中船文冲船坞有限公司 | Support the scientific investigation ship power positioning system structure of bathyscaph |
| CN108363302A (en) * | 2018-02-13 | 2018-08-03 | 集美大学 | A kind of dynamic positioning of vessels bottom propeller control method based on harmony search |
| CN108663235A (en) * | 2018-04-13 | 2018-10-16 | 国家海洋局第海洋研究所 | Realize scientific investigation ship of the boat process to deep-sea superficial water continuous sampling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102589531B (en) | Underwater topography measurement boat as well as manufacturing method and measurement method | |
| Caccia et al. | Unmanned surface vehicle for coastal and protected waters applications: The Charlie project | |
| Dukan et al. | Dynamic positioning system for a small size ROV with experimental results | |
| EP2911935B1 (en) | Predictive sea state mapping for ship motion control | |
| US8326472B2 (en) | Automatic vessel position holding control method and controller | |
| Kraus | Wave glider dynamic modeling, parameter identification and simulation | |
| CN110427038A (en) | A kind of full-automatic docking system of unmanned boat and method of docking | |
| CN103176451B (en) | Ship sailing aiding and formation commanding method | |
| Caccia et al. | A practical approach to modeling and identification of small autonomous surface craft | |
| CN105383654A (en) | Depth control device of autonomous underwater vehicle | |
| Hegrenaes et al. | Comparison of mathematical models for the HUGIN 4500 AUV based on experimental data | |
| CN107942095B (en) | Wave glider actual heading prediction technique | |
| CN202582544U (en) | Underwater topography surveying vessel | |
| Evans et al. | Docking techniques and evaluation trials of the SWIMMER AUV: an autonomous deployment AUV for work-class ROVs | |
| CN111026135B (en) | High-performance sailing feedforward control system and control method for unmanned ship | |
| CN110133659A (en) | A kind of Novel surface naval vessel is assisted from berthing pilotage device and method | |
| CN104316025A (en) | System for estimating height of sea wave based on attitude information of ship | |
| CN110244707A (en) | A kind of intelligent ship dynamic positioning operating system | |
| CN110196439A (en) | A kind of dynamic positioning system based on Beidou differential signal | |
| Ueno | A GPS-based system for precise shipping guidance and control | |
| Annamalai et al. | A robust navigation technique for integration in the guidance and control of an uninhabited surface vehicle | |
| Hassanein et al. | Development of low cost autonomous underwater vehicle platform | |
| CN108287538A (en) | One kind being based on the unmanned boat system of RTK technologies | |
| CN110254678A (en) | A kind of scientific surveying ship with dynamic positioning system | |
| RU2036432C1 (en) | Inertial satellite module and complex inertial satellite system for navigation, communication, location illumination and control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |