CN110294074B - Scientific investigation ship with big dipper differential signal dynamic positioning system - Google Patents
Scientific investigation ship with big dipper differential signal dynamic positioning system Download PDFInfo
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- CN110294074B CN110294074B CN201910394789.6A CN201910394789A CN110294074B CN 110294074 B CN110294074 B CN 110294074B CN 201910394789 A CN201910394789 A CN 201910394789A CN 110294074 B CN110294074 B CN 110294074B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
Abstract
The invention discloses a scientific investigation ship with a Beidou differential signal dynamic positioning system, which comprises a ship body, the hull is provided with a Beidou differential signal dynamic positioning system, the Beidou differential signal dynamic positioning system comprises a measuring system, a thruster system, a dynamic system and a control system, the control system comprises a controller, a computer software system connected with the controller and used for processing the information collected by the measuring system and outputting a control instruction to the thruster system so as to realize the preset ship positioning or motion control, and a fast compensation adjustment system that automatically analyzes the current offset data and compares it to the desired position parameter when the measurement system signal changes from unstable to stable, automatically generates a track curve that restores the desired position with minimal load, when the moving position of the ship is close to the expected position, the automatic navigation mode is automatically switched, and the ship is driven to navigate to reach the expected position through the automatic control unit. The invention can realize quick and accurate control of the expected position of the ship under the minimum load and ensure the control precision of the system.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to a scientific investigation ship with a Beidou differential signal dynamic positioning system.
Background
As mankind is more and more involved in the sea, research on mooring modes of ships and ocean platforms is becoming more and more important. Since the application of the conventional mooring method in deep sea is very limited, a dynamic positioning system without the aid of a mooring system is developed. The dynamic positioning system of the ship starts to be in the first-appearing prototype in the 60 th of the 20 th century, and obtains great progress and leap development with the development of computer technology and the requirement of northern sea oil fields in western Europe in the later 70 th of the 20 th century, and the dynamic positioning system of the ship enters the mature stage by the end of the 20 th century. With the development of dynamic positioning technology, the concept of dynamic positioning is expanding. By adopting the dynamic positioning technology, the relative position of the ship and other ships can be kept unchanged, the ship can be shifted according to a preset track, the ship can sail at a preset navigational speed according to a preset planned route, the automatic driving of the ship can be realized, the underwater target can be automatically tracked, and the like. The dynamic positioning system is firstly applied to special ships needing deep sea fixed-point operation, such as offshore oil drilling ships, cabled remote control underwater vehicles (ROV) mother ships, fire fighting ships and the like. Since the 80 s of the 20 th century, dynamic positioning systems have been widely used in ships such as marine research vessels, drilling vessels, salvage vessels, mining vessels, cable laying vessels, and the like.
The ship dynamic positioning system is characterized in that according to the required ship positioning or motion instruction, the computer is used for carrying out complex real-time calculation according to the motion information and the environment information of the ship obtained by measurement, and the main thrust device and the auxiliary thrust device of the ship are controlled to generate certain thrust and moment so as to realize preset ship attitude control, positioning control or motion control. The dynamic positioning system can be generally divided into two parts, namely a measurement control part and a thrust device part. The measurement control part generally comprises measurement equipment such as a differential GPS, an electric compass, a ship motion reference unit, a wind direction and wind speed sensor, a laser positioning device, an underwater ultra-short baseline acoustic positioning device and the like, and peripherals such as a control computer, an operation console, a printer and the like; the thrust device part comprises a main thruster, a rudder and a bow-stern auxiliary thrust device (a lateral thruster and a full-rotation thruster).
The most important Sensor (Sensor) in the measurement system is differential GPS, i.e. DGPS signal, and if its signal is lost, the dynamic positioning system will not work properly. The positioning accuracy of the DGPS is 3-5 m and even smaller, while the positioning accuracy of the ordinary GPS is about 100m, and because the requirement of a dynamic positioning control system on ship position information is particularly high, the ship position information can be interpreted only by differential GPS signals, and the ordinary GPS signals are not accepted. In the ocean far from the shore, the differential signal is unstable. When some ship bow is stopped, no differential signal exists, the ship bow is adjusted by 10-20 degrees, the differential signal appears and is kept stable within a certain time, and when the condition is serious, the differential signal is intermittent and discontinuous. If there is no difference signal in the longitude and latitude data in the ship position information, the position information can not enter the operation system, and the dynamic positioning system sends a compensation instruction to the propulsion device by using the ship position signal indicated value as a judgment standard in the automatic positioning mode, no matter whether the ship position signal indicated value is subjected to difference or not. Because there is no differential signal, the ship position change value displayed is little or no change, and the power load at this moment is often little. After a period of time, although the longitude and latitude of the ship position displayed by the operation window of the dynamic positioning system are not changed, the ship position actually drifts along with external acting force such as wind, ocean current and the like. Once the differential signal is generated again, the position is judged to deviate, a compensation command is immediately sent to the power device, the head and tail main propulsion device, the head and tail side propulsion device and the like can operate under a large load, and when the set position is recovered, the low-load operation of the ship position is maintained; when there is again a situation where there is no differential signal for a while and then there is a differential signal again, there is also a situation where the power load increases suddenly. The sudden increase and decrease of the equipment load repeatedly occurs in this way, and a large load impact is generated on the normal operation of the marine main engine.
Therefore, when the differential signal is unstable, how to quickly and accurately control the expected position of the ship with the minimum load once the stable differential signal is restored is a difficult problem restricting the development of the dynamic positioning technology at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing the scientific investigation ship with the Beidou differential signal dynamic positioning system, which can quickly find an optimal control input combination in the required response time, meet the expected control force and moment, resist the influence of external interference, realize the quick and accurate control of the expected position of the ship by the minimum load and ensure the control precision of the system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a scientific investigation ship with a Beidou differential signal dynamic positioning system comprises a ship body, wherein the Beidou differential signal dynamic positioning system is arranged on the ship body, the Beidou differential signal dynamic positioning system comprises a measuring system for monitoring sea condition information parameters such as wind, wave and flow in real time, a thruster system with a main thruster and a side thruster, a power system for providing electric energy for the thruster system, and a control system for processing ship motion information and current environment action information measured by the measuring system, giving a thruster control signal to control the main thruster and the side thruster so as to enable a dynamic positioning ship to keep at a desired position and in a heading direction under the action of external forces such as wind, flow and wave and thrust of the thruster, wherein the control system comprises a controller and a control system which is connected with the controller and used for processing information acquired by the measuring system and outputting a control instruction to the thruster system to realize preset ship positioning control or motion control The system comprises a computer software system, a rapid compensation and adjustment system which automatically analyzes current offset data and compares the current offset data with expected position parameters when a measuring system signal is changed from unstable to stable, and automatically generates a track curve for restoring an expected position with minimum load by combining the actual condition of current external acting force, a thrust distribution system which automatically distributes control force to corresponding main propellers and side propellers according to the calculated thrust for restoring the ship to a target position and heading, and a manual control unit which rapidly drives the ship to move along the track curve according to the obtained track curve.
The scientific investigation ship with the Beidou differential signal dynamic positioning system comprises a signal detection unit connected with a controller and used for detecting the stability of information parameters of a measurement system, and a track generation unit for automatically generating a track curve graph, wherein the track generation unit generates track curve graph information and sends the track curve graph information to a display through the controller.
The scientific investigation ship with the Beidou differential signal dynamic positioning system comprises a parameter identification module for identifying track curve data and a thrust distribution module which is connected with a controller and is used for processing parameter information identified by the parameter identification module and generating corresponding control force signals, wherein the thrust distribution module is in signal connection with each main propeller and each side propeller.
The scientific investigation ship with the Beidou differential signal dynamic positioning system is characterized in that the manual control unit comprises a manual operating lever for realizing the front-back, left-right and instant displacement of the ship, the manual operating lever is in signal connection with the controller through the displacement analog input unit, the scientific investigation ship further comprises an automatic control mode switching module for sending a pause signal to the automatic control unit when the manual operating lever inputs a displacement signal into the displacement analog input unit and sending the signal to the controller, and the automatic control mode switching module is in signal connection with the controller.
The scientific investigation ship with the Beidou differential signal dynamic positioning system is characterized in that the automatic control unit comprises a mobile parameter input module, the mobile parameter input module is in signal connection with the controller, the scientific investigation ship further comprises a manual control mode switching module which sends a pause signal to the manual control unit when the mobile parameter is input into the parameter input module, and the manual control mode switching module is in signal connection with the controller.
The scientific investigation ship with the Beidou differential signal dynamic positioning system comprises an electric compass, an anemorumbometer, a dynamic sensor, a differential global positioning system and an underwater sound positioning system, wherein the electric compass is respectively in signal connection with a controller and used for collecting ship heading signals, the anemorumbometer is used for collecting wind direction and wind speed signals of the environment where a ship is located, the dynamic sensor is used for providing ship dynamic reference signals, the differential global positioning system is used for receiving satellite positioning signals, and the underwater sound positioning system is used for determining water flow signals.
The scientific investigation ship with the Beidou differential signal dynamic positioning system has the advantages that: the rapid compensation adjustment system can automatically analyze the current offset data and compare the current offset data with the expected position parameters when the signal of the measurement system changes from unstable to stable, and automatically generate a track curve for recovering the expected position with the minimum load by combining the actual condition of the current external acting force. The thrust distribution system can calculate the thrust required by restoring the ship to the target position and heading according to the calculation, and automatically distributes the control force to the corresponding main propeller and the corresponding lateral propellers, so that an optimal control input combination is quickly found within the required response time, the expected control force and torque are met, the influence of external interference is resisted, the expected position of the ship is quickly and accurately controlled by the minimum load, and the control precision of the system is ensured. The manual control system is arranged, the manual control lever can be manually controlled according to the generated track curve graph to achieve the rapid approaching expected position along the track curve, the automatic approaching can be achieved when the expected position is approached, and the purpose of rapidly controlling the moving speed is greatly improved. And a manual and automatic combined control mode is adopted, so that the problem of low traditional response speed is solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of a circuit structure of a Beidou differential signal dynamic positioning system;
fig. 3 is a schematic diagram of the rapid adjustment of the ship position after the differential signal is stabilized.
Detailed Description
The invention is further explained in detail with reference to the drawings and the specific embodiments;
as shown in fig. 1, 2 and 3, a scientific investigation ship with a beidou differential signal dynamic positioning system comprises a ship body 1, a beidou differential GPS dynamic positioning system 2 is arranged on the ship body 1, the beidou differential signal dynamic positioning system 2 comprises a measuring system for monitoring sea condition information parameters such as wind, wave and flow in real time, a thruster system with a main thruster 3 and a side thruster 4, a power system for providing electric energy for the thruster system, and a control system for processing ship motion information and current environment action information measured by the measuring system, giving a thruster control signal to control the main thruster and the side thruster so that the dynamic positioning ship can be kept at a desired position and heading under the action of external forces such as wind, flow and wave and the thrust of the thruster,
the measuring system comprises an electric compass which is respectively connected with a controller through signals and used for collecting heading signals of a ship, an anemorumbometer used for collecting wind direction and wind speed signals of the environment where the ship is located, a dynamic sensor used for providing dynamic reference signals of the ship, a differential global positioning system used for receiving satellite positioning signals, and an underwater acoustic positioning system used for determining water flow signals.
The control system comprises a controller, a computer software system which is connected with the controller and is used for processing the information collected by the measuring system and outputting a control instruction to a thruster system so as to realize the preset ship positioning control or motion control, and a rapid compensation and adjustment system which automatically analyzes the current offset data and compares the current offset data with the expected position parameter when the signal of the measuring system changes from unstable to stable, and automatically generates a track curve for recovering the expected position with the minimum load by combining the actual condition of the current external acting force.
The system also comprises a thrust distribution system which automatically distributes control force to the corresponding main propellers 3 and the corresponding lateral propellers 4 according to the thrust required by calculating to restore the ship to the target position and the heading, wherein the thrust distribution system comprises a parameter identification module used for identifying track curve data and a thrust distribution module which is connected with the controller and used for processing parameter information identified by the parameter identification module and generating corresponding control force signals, and the thrust distribution module is in signal connection with each main propeller and each lateral propeller.
In order to realize rapid adjustment, the invention is provided with a manual control unit which can realize rapid driving of the ship along the track curve according to the obtained track curve, when the moving position of the ship is close to the expected position, the automatic control unit is automatically switched to an automatic navigation mode, and the ship is driven to navigate to the expected position through the automatic control unit. The manual control unit comprises a manual control lever for realizing the front-back, left-right and instant displacement of the ship, the manual control lever is in signal connection with the controller through the displacement analog input unit, the automatic control mode switching module also comprises an automatic control mode switching module which sends a pause signal to the automatic control unit when the manual control lever inputs a displacement signal into the displacement analog input unit and sends a signal to the controller, and the automatic control mode switching module is in signal connection with the controller. The automatic control unit comprises a mobile parameter input module, the mobile parameter input module is in signal connection with the controller, the automatic control unit further comprises a manual control mode switching module which sends a signal to the controller when the mobile parameter is input to the parameter input module, the controller sends a pause signal to the manual control unit, and the manual control mode switching module is in signal connection with the controller. The manual mode and the automatic mode are switched, so that the efficiency and the accuracy of ship control are greatly improved, and the automation degree of the ship control is improved.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should understand that they can make various changes, modifications, additions and substitutions within the spirit and scope of the present invention.
Claims (2)
1. The utility model provides a scientific investigation ship with big dipper differential signal dynamic positioning system, includes the hull, is provided with big dipper differential signal dynamic positioning system on the hull, big dipper differential signal dynamic positioning system includes a measurement system who is used for monitoring wind, wave, current sea condition information parameter in real time, a thruster system that has main propeller and side propeller, a driving system who is used for providing the electric energy to the thruster system, a marine motion information and the current environment effect information that are used for measuring the measurement system handles, give the propeller control signal in order to control main propeller and side propeller, make power positioning boats and ships keep in expectation position and heading's control system under the thrust effect of wind, stream, wave external force and propeller, its characterized in that: the control system comprises a controller, a computer software system which is connected with the controller and is used for processing the information collected by the measuring system and outputting a control instruction to the thruster system to realize the preset ship positioning control or motion control, a rapid compensation and adjustment system which automatically analyzes the current offset data and compares the current offset data with the expected position parameter when the signal of the measuring system changes from unstable to stable, combines the actual condition of the current external acting force and automatically generates a track curve for restoring the expected position with the minimum load, a thrust distribution system which automatically distributes the control force to the corresponding main thruster and lateral thruster according to the calculated thrust required for restoring the ship to the target position and heading, and a manual control unit which rapidly drives the ship to move along the track curve according to the obtained track curve when the moving position of the ship is close to the expected position, automatically switching to an automatic navigation mode, and driving the ship to navigate and reach an expected position through an automatic control unit; the rapid compensation and adjustment system comprises a signal detection unit which is connected with the controller and is used for detecting the stability of the information parameters of the measurement system, and a track generation unit which automatically generates a track curve graph, wherein the track generation unit generates track curve graph information and sends the track curve graph information to the display through the controller; the thrust distribution system comprises a parameter identification module for identifying track curve data, and a thrust distribution module which is connected with the controller and is used for processing parameter information identified by the parameter identification module and generating corresponding control force signals, wherein the thrust distribution module is in signal connection with each main propeller and each lateral propeller; the manual control unit comprises a manual operating lever for realizing the front-back, left-right and instant displacement of the ship, the manual operating lever is in signal connection with the controller through the displacement analog input unit, the automatic control mode switching module is used for sending a signal to the controller when the manual operating lever inputs a displacement signal into the displacement analog input unit, the controller sends a pause signal to the automatic control unit, and the automatic control mode switching module is in signal connection with the controller; the automatic control unit comprises a mobile parameter input module, the mobile parameter input module is in signal connection with the controller, the automatic control unit further comprises a manual control mode switching module which sends a signal to the controller when the mobile parameter is input to the parameter input module, the controller sends a pause signal to the manual control unit, and the manual control mode switching module is in signal connection with the controller.
2. The scientific investigation ship with big dipper differential signal dynamic positioning system of claim 1, characterized by: the measuring system comprises an electric compass which is respectively connected with the controller through signals and used for collecting ship heading signals, an anemorumbometer used for collecting wind direction and wind speed signals of the environment where the ship is located, a dynamic sensor used for providing ship dynamic reference signals, a differential global positioning system used for receiving satellite positioning signals, and an underwater acoustic positioning system used for determining water flow signals.
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