CN110435813A - A kind of hand behaviour's bar adjusting process based on dynamic positioning system - Google Patents
A kind of hand behaviour's bar adjusting process based on dynamic positioning system Download PDFInfo
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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Abstract
The hand that the present invention relates to a kind of based on dynamic positioning system grasps bar adjusting process, and technical characterstic is: the following steps are included: step 1, in dynamic positioning hand grasping bar before use, needing to carry out the basic adjustment calibration of hand behaviour's bar；Step 2 grasps bar in dynamic positioning hand before use, needing to carry out the intelligent adjustment calibration of hand behaviour's bar, and generate the customization input and output response curve of hand behaviour's bar；Step 3, dynamic positioning system work when, real-time perfoming hand grasp bar basic adjustment resolve；Step 4, in dynamic positioning system work, the intelligent adjustment that real-time perfoming hand grasps bar resolves, and final output transverse direction, longitudinal direction, bow are to Three dimensions control power.The present invention passes through intelligent adjustment design, realizes the customization design of hand behaviour's bar input-output characteristic, meets manipulation demand of the dynamic positioning system in different naval vessels, different operation assignments, have very high practical value.
Description
Technical field
The invention belongs to dynamic positioning of vessels technical field, the hand of especially a kind of Ship Dynamic Positioning Systems Based grasps bar adjustment
Method.
Background technique
As the mankind continually develop ocean, traditional anchoring system can no longer meet abyssalpelagic operation
Demand.And the propeller that dynamic positioning system can be equipped with using ship itself, the interference of maritime environment is resisted, realizes ship position
Set with bow to holding, and it has many advantages, such as positioning accuracy height, mobility strong, not by sea area depth limit, is deep ocean work
One of the Support Equipment of equipment indispensability.
Dynamic positioning system hand grasps bar, is that the human-computer interaction that dynamic positioning system is most important, most direct, the most used is set
It is one of standby.Operator passes through mobile hand and grasps bar, and lateral X, longitudinal direction Y, bow can be provided for dynamic positioning system to the 3 of N and ties up position
It sets input (percentage), which resolves through receiving and distributing the basic adjustment of behaviour's bar and intelligent adjustment, and 3 dimensions that can be converted into controller push away
Power instructs (percentage), then carries out thrust distribution, feedback control by controller, instructs naval vessel according to anticipation and realizes position
And gesture stability.
Hand grasps bar adjustment, is to guarantee hand behaviour bar input accuracy, the important link of flexibility, input information is that hand grasps bar
3 axis home positions (percentage), output be full ship thrust command (percentage).Hand behaviour's bar adjustment includes hand behaviour's bar basis tune
School, hand grasp bar intelligence adjustment two parts.The adjustment of bar basis is grasped by hand, the various deviations of hand behaviour's bar input can be corrected, guaranteed
Reliability, the accuracy of instruction input；Meanwhile the adjustment of bar intelligence is grasped by hand, the input and output that can customize hand behaviour's bar are special
Property, the physical quantity response output of different scenes is obtained, the manipulation demand on different naval vessels, different operation assignments is met.
It is found through retrieval, Publication No. CN105416550A is entitled " a kind of dynamic positioning control panel interactive system "
Patent application in, control panel interactive system contain hand behaviour bar processing module, but the patent application only opponent grasp bar mould
Block has carried out hardware description, does not illustrate that hand behaviour's bar realizes that location information to the conversion process and algorithm of thrust information, does not have more
It is related to customizing the intelligent adjustment of input-output characteristic.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of hand behaviour's bar tune of Ship Dynamic Positioning Systems Based
Calibration method, can eliminate the mechanical deflection of dynamic positioning system hand behaviour's bar, and realize the customization of hand behaviour's bar input-output characteristic
Design, meets the manipulation demand on different naval vessels, different operation assignments.
The present invention solves its realistic problem and adopts the following technical solutions to achieve:
A kind of hand behaviour's bar adjusting process based on dynamic positioning system, comprising the following steps:
Step 1 grasps bar in dynamic positioning hand before use, needing to carry out the basic adjustment calibration of hand behaviour's bar；
Step 2 grasps bar in dynamic positioning hand before use, needing to carry out the intelligent adjustment calibration of hand behaviour's bar, and generate hand behaviour
The customization input and output response curve of bar；
Step 3, dynamic positioning system work when, real-time perfoming hand grasp bar basic adjustment resolve；
Step 4, dynamic positioning system work when, real-time perfoming hand grasp bar intelligent adjustment resolve, final output laterally,
Longitudinal, bow is to Three dimensions control power.
Moreover, the project that the basic adjustment of the step 1 is demarcated, including transverse direction, longitudinal direction, bow are to three dimensions, Mei Gewei
Degree is related to minimum value, zero-bit, maximum value, four, dead zone project, amounts to 12 calibration numerical value, all demarcates numerical value and is all made of hundred
Divide and compares form；
The specific steps of the step 1 include:
(1) hand behaviour's bar is moved to its mechanical zero, records the original position-information got at this time, completes three axis zero-bits
The calibration of adjustment；
(2) mobile hand behaviour bar reaches its transverse direction, longitudinal direction, bow to the positive maximum position in three directions, records and obtains at this time
The original position-information arrived, then move hand behaviour's bar and reach the negative sense maximum position of its transverse direction, longitudinal direction, bow to three directions, record
The original position-information got at this time；
The calibration numerical value of (3) three axis dead zone adjustment, (0,10] independently set.
Moreover, the specific steps of the step 2 include:
(1) hand behaviour's bar input and output rectangular coordinate system is established, operator is by mouse or touch screen, in rectangular coordinate system
Input two reversal point A (XA,YA)、B(XB,YB)；
(2) verification of input reversal point: (X is carried outA-XB)*(YA-YB) > 0, guarantee the monotonic increase for customizing curve with this；
(3) according to origin O (0,0), reversal point A (XA,YA)、B(XB,YB), 4 coordinates of terminal E (100,100), acquire
OA, AB, BE linear equation, and calculate the length of line segment OA, AB, BE；
(4) the 1/3 of the small person of OA, AB length is taken, intercepts A at the nearly end A of line segment OA, AB respectively1、A2Two o'clock acquires the two and sits
Mark；
(5) A is crossed respectively1、A2Two o'clock does the vertical line of OA, AB, and intersect at a point O1, and acquire its coordinate；
(6) it acquires with O1For the center of circle, A1O1For the equation of a circle of radius, as camber line A1A2The curvilinear equation of section；
(7) it using method identical with above-mentioned (4), (5), (6) step, acquires with O2For the center of circle, O2B1For the circle side of radius
Journey, as camber line B1B2The curvilinear equation of section；
(8) this makes it possible to obtain " straightway OA1Camber line A1A2Straightway A2B1Camber line B1B2Straightway B2E " sectional curve
Equation.
Moreover, the specific steps that the basic adjustment of the step 3 resolves include:
(1) compare when bar home position is grasped in remote holder behaviour bar home position and last hand, it is determined whether have exceeded dead zone threshold
Value: exceeding threshold value, as effectively input；Without departing from threshold value, then it is assumed that be that hand behaviour's bar is not operating or only non-artificial in the direction
Slight jitter；
(2) compare when remote holder behaviour bar home position and Zero positioning value, determine that hand behaviour's bar is in the area Zheng Ban or the area Fu Ban；
(3) interpolation calculation, the location information after calculating hand behaviour's bar basis adjustment.
Moreover, the specific steps that the intelligent adjustment of the step 4 resolves include:
(1) location information after obtaining basic adjustment；
(2) the location information X after comparison basis adjustment and O, A1、A2、B1、B2, E each point abscissa: if 0≤X≤X (A1),
Bring X into straightway OA1Equation acquires thrust output；If X (A1) < X < X (A2), bring X into camber line A1A2Equation is acquired and is pushed away
Power output；If X (A2)≤X≤X(B1), bring X into straightway A2B1Equation acquires thrust output；If X (B1) < X < X (B2),
Bring X into camber line B1B2Equation acquires thrust output；If X (B2Into straightway B is brought X in)≤X≤1002E equation, acquires thrust
Output.
The advantages of the present invention:
1, hand of the invention behaviour bar adjusting process includes basic adjustment and the big module of intelligent adjustment two: grasping bar basis by hand
Adjustment solves the problems such as dead zone, zero drift, extreme value drift of dynamic positioning system hand behaviour's bar, has modified hand behaviour's bar input
Various deviations, ensure that reliability, the accuracy of instruction input；It is designed by intelligent adjustment, it is defeated to realize hand behaviour's bar input
The customization design of characteristic out, meets manipulation demand of the dynamic positioning system in different naval vessels, different operation assignments, has
Very high practical value.
2, the present invention is by basic adjustment, eliminate the potential zero drift of hand behaviour bar original position-information (percentage),
Equal error is shaken in extreme value drift, dead zone, ensure that reliability, the accuracy of instruction input.
3, the present invention has customized the input-output characteristic of hand behaviour's bar, on different naval vessels, different work by intelligent adjustment
In the case of task, the response characteristic of hand behaviour's bar can be quickly adjusted, meets the naval vessel manipulation demand of different operating conditions.
Detailed description of the invention
Fig. 1 is process flow diagram of the invention；
Fig. 2 is that hand behaviour's bar of the invention customizes input and output response curve generation schematic diagram；
Fig. 3 is the process flow diagram of step 2 of the invention；
Fig. 4 is the process flow diagram of step 3 of the invention；
Fig. 5 is dynamic positioning system hand behaviour's bar pictorial diagram of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing:
A kind of hand behaviour's bar adjusting process based on dynamic positioning system, as shown in Figure 1, comprising the following steps:
Step 1 grasps bar in dynamic positioning hand before use, needing to carry out the basic adjustment calibration of hand behaviour's bar；
In the present embodiment, the step 1 basic adjustment calibration project, including transverse direction, longitudinal direction, bow to three tie up
Degree, each dimension are related to minimum value, zero-bit, maximum value, four, dead zone content, amount to 12 calibration numerical value, all demarcate number
Value is all made of percents.
The specific steps of the step 1 include:
(1) hand behaviour's bar is moved to its mechanical zero (transverse direction, longitudinal direction, bow will be in its mechanical zeros to three dimensions),
The original position-information got at this time is recorded, the calibration of three axis zero adjustments is completed.
(2) mobile hand behaviour bar reaches its transverse direction, longitudinal direction, bow to the positive maximum position in three directions, records and obtains at this time
The original position-information arrived, then move hand behaviour's bar and reach the negative sense maximum position of its transverse direction, longitudinal direction, bow to three directions, record
The original position-information got at this time.
The calibration numerical value of (3) three axis dead zone adjustment, can (0,10] independently set.
Step 2 grasps bar in dynamic positioning hand before use, needing to carry out the intelligent adjustment calibration of hand behaviour's bar, and generate hand behaviour
The customization input and output response curve of bar, as shown in Figure 2.
In the present embodiment, as shown in figure 3, the specific steps of the step 2 include:
(1) hand behaviour's bar input and output rectangular coordinate system is established, operator is by mouse or touch screen, in rectangular coordinate system
Input two reversal point A (XA,YA)、B(XB,YB)；
(2) verification of input reversal point: (X is carried outA-XB)*(YA-YB) > 0, guarantee the monotonic increase for customizing curve with this；
(3) according to origin O (0,0), reversal point A (XA,YA)、B(XB,YB), 4 coordinates of terminal E (100,100), acquire
OA, AB, BE linear equation, and calculate the length of line segment OA, AB, BE；
(4) the 1/3 of the small person of OA, AB length is taken, intercepts A at the nearly end A of line segment OA, AB respectively1、A2Two o'clock acquires the two and sits
Mark；
(5) A is crossed respectively1、A2Two o'clock does the vertical line of OA, AB, and intersect at a point O1, and acquire its coordinate；
(6) it acquires with O1For the center of circle, A1O1For the equation of a circle of radius, as camber line A1A2The curvilinear equation of section；
(7) it using method identical with above-mentioned (4), (5), (6) step, acquires with O2For the center of circle, O2B1For the circle side of radius
Journey, as camber line B1B2The curvilinear equation of section；
(8) this makes it possible to obtain " straightway OA1Camber line A1A2Straightway A2B1Camber line B1B2Straightway B2E " sectional curve
Equation.
It should be pointed out that in the generating process for customizing input-output curve, if straightway OA and AB are just total
Line (or straightway AB and BE is just conllinear), then just not having to the transition camber line A for calculating them1A2(or camber line B1B2).
Step 3, dynamic positioning system work when, real-time perfoming hand grasp bar basic adjustment resolve；
In the present embodiment, the specific steps of the basic adjustment resolving of the step 3 include:
(1) compare as remote holder behaviour bar home position (percentage) and last hand behaviour bar home position (percentage), determine
Whether dead zone threshold value is had exceeded: beyond threshold value, as effectively input；Without departing from threshold value, then it is assumed that be hand behaviour bar the direction not
Movement or only non-artificial slight jitter；
(2) compare when remote holder behaviour bar home position and Zero positioning value, determine that hand behaviour's bar is in the area Zheng Ban or the area Fu Ban；
(3) interpolation calculation, the location information after calculating hand behaviour's bar basis adjustment.
In the present embodiment, by taking lateral X-axis data calculation as an example, the process of solution that hand grasps the adjustment of bar basis is as shown in Figure 4.
Step 4, dynamic positioning system work when, real-time perfoming hand grasp bar intelligent adjustment resolve, final output laterally,
Longitudinal, bow is to Three dimensions control power.
In the present embodiment, the specific steps of the intelligent adjustment resolving of the step 4 include:
(1) location information after obtaining basic adjustment；
(2) the location information X after comparison basis adjustment and O, A1、A2、B1、B2, E each point abscissa: if 0≤X≤X (A1),
Bring X into straightway OA1Equation acquires thrust output；If X (A1) < X < X (A2), bring X into camber line A1A2Equation is acquired and is pushed away
Power output；If X (A2)≤X≤X(B1), bring X into straightway A2B1Equation acquires thrust output；If X (B1) < X < X (B2),
Bring X into camber line B1B2Equation acquires thrust output；If X (B2Into straightway B is brought X in)≤X≤1002E equation, acquires thrust
Output.
Dynamic positioning system hand grasps bar, as shown in figure 5, being that dynamic positioning system is most important, most direct, the most used
One of human-computer interaction device.Operator passes through mobile hand and grasps bar, and lateral X, longitudinal direction Y, bow can be provided for dynamic positioning system
The 3 dimension position inputs (percentage) to N, the input are resolved through receiving and distributing the basic adjustment of behaviour's bar and intelligent adjustment, can be converted into control
3 dimensions thrust command (percentage) of device processed, then thrust distribution, feedback control are carried out by controller, finally make naval vessel according to anticipation
Position and gesture stability are realized in instruction.
The working principle of the invention is: the calibration link before hand grasps bar use, by the calibration link of basic adjustment, in advance
Hand behaviour bar minimum, zero-bit, maximum value dead zone information have been deposited, by the calibration link of intelligent adjustment, has customized hand behaviour's bar
Input and output response curve；In hand behaviour's bar work, basic adjustment resolving eliminates zero-bit, dead zone, pole based on calibration value
It is worth deviation, ensure that reliability, the accuracy of hand behaviour's bar instruction input, intelligent adjustment resolves then according to customizing response curve,
The position input of hand behaviour's bar is converted into thrust output, meets behaviour's ship demand of different operating conditions.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (5)
1. a kind of hand based on dynamic positioning system grasps bar adjusting process, it is characterised in that: the following steps are included:
Step 1 grasps bar in dynamic positioning hand before use, needing to carry out the basic adjustment calibration of hand behaviour's bar；
Step 2 grasps bar before use, needing to carry out the intelligent adjustment calibration of hand behaviour's bar in dynamic positioning hand, and generates hand behaviour's bar
Customize input and output response curve；
Step 3, dynamic positioning system work when, real-time perfoming hand grasp bar basic adjustment resolve；
Step 4, in dynamic positioning system work, the intelligent adjustment that real-time perfoming hand grasps bar resolves, and final output is lateral, vertical
To, bow to Three dimensions control power.
2. a kind of hand based on dynamic positioning system according to claim 1 grasps bar adjusting process, it is characterised in that: described
The project of the basic adjustment calibration of step 1, including transverse direction, longitudinal direction, bow be to three dimensions, each dimension be related to minimum value, zero-bit,
Maximum value, four, dead zone project, amount to 12 calibration numerical value, all demarcate numerical value and are all made of percents；
The specific steps of the step 1 include:
(1) hand behaviour's bar is moved to its mechanical zero, records the original position-information got at this time, completes three axis zero adjustments
Calibration；
(2) mobile hand behaviour bar reaches its transverse direction, longitudinal direction, bow to the positive maximum position in three directions, records and gets at this time
Original position-information, then move hand behaviour's bar and reach its transverse direction, longitudinal direction, bow to the negative sense maximum position in three directions, record is at this time
The original position-information got；
The calibration numerical value of (3) three axis dead zone adjustment, (0,10] independently set.
3. a kind of hand based on dynamic positioning system according to claim 1 grasps bar adjusting process, it is characterised in that: described
The specific steps of step 2 include:
(1) hand behaviour's bar input and output rectangular coordinate system is established, operator is inputted in rectangular coordinate system by mouse or touch screen
Two reversal point A (XA,YA)、B(XB,YB)；
(2) verification of input reversal point: (X is carried outA-XB)*(YA-YB) > 0, guarantee the monotonic increase for customizing curve with this；
(3) according to origin O (0,0), reversal point A (XA,YA)、B(XB,YB), 4 coordinates of terminal E (100,100), acquire OA, AB,
BE linear equation, and calculate the length of line segment OA, AB, BE；
(4) the 1/3 of the small person of OA, AB length is taken, intercepts A at the nearly end A of line segment OA, AB respectively1、A2Two o'clock acquires the two coordinate；
(5) A is crossed respectively1、A2Two o'clock does the vertical line of OA, AB, and intersect at a point O1, and acquire its coordinate；
(6) it acquires with O1For the center of circle, A1O1For the equation of a circle of radius, as camber line A1A2The curvilinear equation of section；
(7) it using method identical with above-mentioned (4), (5), (6) step, acquires with O2For the center of circle, O2B1For the equation of a circle of radius, i.e.,
For camber line B1B2The curvilinear equation of section；
(8) this makes it possible to obtain " straightway OA1Camber line A1A2Straightway A2B1Camber line B1B2Straightway B2E " sectional curve equation.
4. a kind of hand based on dynamic positioning system according to claim 1 grasps bar adjusting process, it is characterised in that: described
The specific steps that the basic adjustment of step 3 resolves include:
(1) compare when bar home position is grasped in remote holder behaviour bar home position and last hand, it is determined whether have exceeded dead zone threshold value: super
Threshold value out, as effectively input；Without departing from threshold value, then it is assumed that be hand behaviour's bar in not operating or only non-artificial slight of the direction
Shake；
(2) compare when remote holder behaviour bar home position and Zero positioning value, determine that hand behaviour's bar is in the area Zheng Ban or the area Fu Ban；
(3) interpolation calculation, the location information after calculating hand behaviour's bar basis adjustment.
5. a kind of hand based on dynamic positioning system according to claim 1 grasps bar adjusting process, it is characterised in that: described
The specific steps that the intelligent adjustment of step 4 resolves include:
(1) location information after obtaining basic adjustment；
(2) the location information X after comparison basis adjustment and O, A1、A2、B1、B2, E each point abscissa: if 0≤X≤X (A1), by X band
Enter straightway OA1Equation acquires thrust output；If X (A1) < X < X (A2), bring X into camber line A1A2It is defeated to acquire thrust for equation
Out；If X (A2)≤X≤X(B1), bring X into straightway A2B1Equation acquires thrust output；If X (B1) < X < X (B2), by X band
Enter camber line B1B2Equation acquires thrust output；If X (B2Into straightway B is brought X in)≤X≤1002E equation acquires thrust output.
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| CN112346510A (en) * | 2020-10-23 | 2021-02-09 | 深圳市谷粒科技有限公司 | Calibration method and device of analog-to-digital rocker |
| WO2022000919A1 (en) * | 2020-06-30 | 2022-01-06 | 歌尔股份有限公司 | Rocker drift processing method and apparatus, and related modules |
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| CN110435813B (en) | 2020-12-15 |
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