CN111483568A - Dynamic positioning model test control method and system based on wind current feedforward - Google Patents

Dynamic positioning model test control method and system based on wind current feedforward Download PDF

Info

Publication number
CN111483568A
CN111483568A CN202010354345.2A CN202010354345A CN111483568A CN 111483568 A CN111483568 A CN 111483568A CN 202010354345 A CN202010354345 A CN 202010354345A CN 111483568 A CN111483568 A CN 111483568A
Authority
CN
China
Prior art keywords
ship
wind
feedforward
flow
dynamic positioning
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
Application number
CN202010354345.2A
Other languages
Chinese (zh)
Inventor
王磊
贺华成
韩森
汤紫莹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN202010354345.2A priority Critical patent/CN111483568A/en
Publication of CN111483568A publication Critical patent/CN111483568A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention relates to a dynamic positioning model test control method based on wind current feedforward, which comprises the steps of obtaining the position of a ship by measuring through a position measuring system, sending position information to a filter, estimating the low-frequency position x and the low-frequency speed v of the ship through the filter, further sending the information to a central PID controller, calculating the required control force tau through the PID controller, estimating the wind power and the flow force borne by the ship at the moment according to the water and underwater projection areas of the ship under the heading angle, and adding the wind power and the flow force into the control force tau in advance: τ ═ kp*x+kd*v+ki*∫xdt+FWind feed forward+FStream feed forward. The invention has the advantages that due to the addition of the feedforward force, the ship can generate approximate thrust to resist the external environment load without prior deviation, thereby ensuring the high-precision positioning of the ship. And the positioning precision of the dynamic positioning model test is obviously improved by adopting an air flow feedforward mode, so that the measured data can provide important reference for the design of an actual dynamic positioning system.

Description

Dynamic positioning model test control method and system based on wind current feedforward
Technical Field
The invention relates to a dynamic positioning model test control method based on wind current feedforward, which is used for ship dynamic positioning and belongs to the technical field of ocean engineering.
Background
In the field of ocean engineering, in order to determine the stress and the movement of an ocean structure and the movement response of a mooring system and a riser system and provide an important basis for future design, a physical model test is an important means. The dynamic positioning model test can simulate important information such as positioning accuracy, power consumption and the like of an ocean structure under a specified sea condition in a wind, wave and current pool, and provides important reference for the design of a dynamic positioning system in practical application, so that the dynamic positioning model test is very important. Once the positioning accuracy of the structure does not meet the requirement and the deviation is too large, various parameters of the system under the real positioning condition are difficult to obtain, and accurate positioning must be ensured.
The existing dynamic positioning method of the ocean structure model adopts pure feedback control, force feedback must be carried out only by deviation, and although an integral link exists, the value of an integral coefficient is very small in order to ensure the stability of the system. In actual control, the system is easily disturbed by the outside to generate large offset, and the system oscillates back and forth near a positioning point, so that the system cannot achieve the required positioning accuracy, and the measured data information is difficult to provide reference value for engineering application.
Disclosure of Invention
The invention aims to provide a control method based on wind current feedforward, which can estimate the wind power and the flow force borne by a ship at the moment by measuring the wind speed and the flow speed at the gravity center of the ship and the posture of the ship in real time according to the projection area of the ship under the angle, and adds a feedback loop in a feedforward mode, so that a propeller can be controlled in advance to generate corresponding thrust, external load is resisted, the deviation of the ship is prevented, and high-precision positioning is ensured.
The invention adopts the following technical scheme:
a dynamic positioning model test control method based on wind current feedforward is characterized in that a position measuring system measures the position of a ship, the position information is sent to a filter, the filter estimates the heading angle, the low-frequency position x and the low-frequency speed v of the ship, the information is further sent to a central PID controller, the PID controller calculates the required control force tau, and the thrust is distributed to each propeller of the dynamic positioning ship through a thrust distribution module; the control force τ is expressed as: τ ═ kp*x+kd*v+kiIntegral whole number xdt; an anemometer and a current meter are arranged near the gravity center of the ship, and corresponding wind speed and current are obtained through measurement; estimating the wind power and the flow force borne by the ship at the moment according to the above-water and underwater projection areas of the ship under the heading angle, and adding the wind power and the flow force into the control force tau in advance:
τ＝kp*x+kd*v+ki*∫x dt+Fwind feed forward+FStream feed forward；
Figure BDA0002472959110000021
Figure BDA0002472959110000022
Where rhoQi (Qi)And ρWater (W)Is the density of gas and water, SOn the upper partAnd SLower partRespectively the projected areas above and below the waterline, S below a specific heading angleLower partAnd SOn the upper partIs a known amount; c is the coefficient of force, v is the measured wind speed and flow velocity; k is a radical ofp、kdAnd kiProportional, differential and integral coefficients, respectively, of the PID controller, and t denotes time.
A system for implementing the test control method comprises a central PID controller, a position measurement system, a filter, a wind feedforward controller, a flow feedforward controller, an anemometer, a current meter and a dynamic positioning ship; the central PID controller, the dynamic positioning ship, the position measuring system, the filter and the central PID controller are connected in sequence; the anemometer is connected with the wind feedforward controller; the flow meter is connected with the flow feedforward controller; the filter, the wind feedforward controller and the central PID controller are connected in sequence; the filter, the flow feedforward controller and the central PID controller are connected in sequence.
The invention has the beneficial effects that:
1) due to the addition of the feedforward force, the ship can generate approximate thrust to resist external environment load without prior deviation, so that high-precision positioning of the ship can be ensured.
2) And the positioning precision of the dynamic positioning model test is obviously improved by adopting an air flow feedforward mode, so that the measured data can provide important reference for the design of an actual dynamic positioning system.
3) The measured data information provides a higher reference value for engineering application.
Drawings
FIG. 1 is a control flow chart of a dynamic positioning model test control method based on wind current feedforward.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The first embodiment is as follows:
the embodiment relates to the prior art as a comparative example, and supposing that a ship is positioned at an origin, aiming at the traditional control method, the position of the ship at the moment is measured by a position measuring system, the position information is sent to a filter, the low-frequency position x and the low-frequency speed v of the ship are estimated by the filter, the information is further sent to a central PID controller, the required control force tau is calculated, and finally the thrust is distributed to each thruster of the dynamic positioning ships through a thrust distribution module. The control force can be expressed as
τ＝kp*x+kd*v+ki*∫x dt
The method is a pure feedback control method, force feedback must be achieved through deviation, and although an integral link exists, in order to ensure the stability of the system, the value of an integral coefficient is usually very small. In actual control, the system is easily disturbed by the outside to generate large offset, and the system oscillates back and forth near a positioning point, so that the system cannot achieve the required positioning accuracy, and the measured data information is difficult to provide reference for engineering application.
Example two: embodiment two an embodiment of the present invention.
Aiming at the control method, the corresponding wind speed and flow speed are obtained by measuring an anemometer and a flow meter which are arranged near the gravity center position of a ship;
estimating the wind power and the flow force borne by the ship at the moment according to the above-water and underwater projection areas of the ship under the heading angle, and adding the wind power and the flow force into the control force tau in advance:
τ＝kp*x+kd*v+ki*∫x dt+Fwind feed forward+FStream feed forward
Figure BDA0002472959110000041
Figure BDA0002472959110000042
Where ρ is the density of gas and water, S is the projected area above the waterline and below the waterline, respectively, and can be determined according to the heading angle, which is a term in the field of ships and indicates the direction of the storm flow, for example, a heading angle of 180 degrees indicates that the storm flow is against the storm flow, and 90 degrees indicates that the storm flow vertically acts on the ship from the side. C is a force coefficient, the force coefficient is selected according to engineering experience, the implementation of the scheme is not influenced by the specific selection of C, and v is the measured wind speed and the measured flow speed.
Due to the addition of the feedforward force, the ship can generate approximate thrust to resist external environment load without prior deviation, so that high-precision positioning of the ship can be ensured, and the method is particularly important for dynamic positioning tests.
The invention adopts the wind current feedforward mode, obviously improves the positioning precision of the dynamic positioning model test, and enables the measured data to provide important reference for the design of the actual dynamic positioning system.
The second embodiment is a preferred embodiment of the present invention, and those skilled in the art can make various changes or modifications based on the present invention, which should fall within the protection scope of the present invention without departing from the general concept of the present invention.

Claims (2)

1. A dynamic positioning model test control method based on wind current feedforward is characterized in that:
the position of the ship is measured by a position measuring system, the position information is sent to a filter, the heading angle, the low-frequency position x and the low-frequency speed v of the ship are estimated by the filter, the information is further sent to a central PID controller, the PID controller calculates the required control force tau, and the thrust is distributed to each propeller of the dynamic positioning ship through a thrust distribution module;
the control force τ is expressed as: τ ═ kp*x+kd*v+ki*∫xdt
An anemometer and a current meter are arranged near the gravity center of the ship, and corresponding wind speed and current are obtained through measurement;
estimating the wind power and the flow force borne by the ship at the moment according to the above-water and underwater projection areas of the ship under the heading angle, and adding the wind power and the flow force into the control force tau in advance:
τ＝kp*x+kd*v+ki*∫xdt+Fwind feed forward+FStream feed forward；
Figure FDA0002472959100000011
Figure FDA0002472959100000012
Where rhoQi (Qi)And ρWater (W)Is the density of gas and water, SOn the upper partAnd SLower partRespectively the projected areas above and below the waterline, S below a specific heading angleLower partAnd SOn the upper partIs a known amount; c is the coefficient of force, v is the measured wind speed and flow velocity; k is a radical ofp、kdAnd kiProportional, differential and integral coefficients, respectively, of the PID controller, and t denotes time.
2. A system for implementing the test control method of claim 1, characterized in that:
the system comprises a central PID controller, a position measuring system, a filter, a wind feedforward controller, a flow feedforward controller, an anemometer, a current meter and a dynamic positioning ship;
the central PID controller, the dynamic positioning ship, the position measuring system, the filter and the central PID controller are connected in sequence;
the anemometer is connected with the wind feedforward controller;
the flow meter is connected with the flow feedforward controller;
the filter, the wind feedforward controller and the central PID controller are connected in sequence;
the filter, the flow feedforward controller and the central PID controller are connected in sequence.
CN202010354345.2A 2020-04-29 2020-04-29 Dynamic positioning model test control method and system based on wind current feedforward Pending CN111483568A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010354345.2A CN111483568A (en) 2020-04-29 2020-04-29 Dynamic positioning model test control method and system based on wind current feedforward

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010354345.2A CN111483568A (en) 2020-04-29 2020-04-29 Dynamic positioning model test control method and system based on wind current feedforward

Publications (1)

Publication Number Publication Date
CN111483568A true CN111483568A (en) 2020-08-04

Family

ID=71793053

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010354345.2A Pending CN111483568A (en) 2020-04-29 2020-04-29 Dynamic positioning model test control method and system based on wind current feedforward

Country Status (1)

Country Link
CN (1) CN111483568A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114715331A (en) * 2022-06-02 2022-07-08 中国海洋大学 Floating ocean platform power positioning control method and system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102393624A (en) * 2011-04-29 2012-03-28 上海交通大学 Dredge dynamic positioning control system based on ring network redundant structure
CN102455708A (en) * 2010-10-28 2012-05-16 上海振华重工(集团)股份有限公司 System and method for on-line recognition and control of ship model for ship power positioning
CN104898688A (en) * 2015-03-27 2015-09-09 哈尔滨工程大学 UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and control method
CN107729641A (en) * 2017-10-10 2018-02-23 江苏科技大学 A kind of dynamic positioning capability analysis method for ocean engineering field
CN108845576A (en) * 2018-06-28 2018-11-20 中国船舶重工集团公司第七0七研究所 A kind of thrust distribution method based on population in conjunction with sequential quadratic programming

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102455708A (en) * 2010-10-28 2012-05-16 上海振华重工(集团)股份有限公司 System and method for on-line recognition and control of ship model for ship power positioning
CN102393624A (en) * 2011-04-29 2012-03-28 上海交通大学 Dredge dynamic positioning control system based on ring network redundant structure
CN104898688A (en) * 2015-03-27 2015-09-09 哈尔滨工程大学 UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and control method
CN107729641A (en) * 2017-10-10 2018-02-23 江苏科技大学 A kind of dynamic positioning capability analysis method for ocean engineering field
CN108845576A (en) * 2018-06-28 2018-11-20 中国船舶重工集团公司第七0七研究所 A kind of thrust distribution method based on population in conjunction with sequential quadratic programming

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李博: "动力定位系统的环境力前馈研究", 《中国优秀博硕士学位论文全文数据库(硕士) 工程科技Ⅱ辑》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114715331A (en) * 2022-06-02 2022-07-08 中国海洋大学 Floating ocean platform power positioning control method and system

Similar Documents

Publication Publication Date Title
CN108845576B (en) Thrust distribution method based on combination of particle swarm optimization and sequence quadratic programming
Skjetne et al. A nonlinear ship manoeuvering model: Identification and adaptive control with experiments for a model ship
CN107942095A (en) Wave glider actual heading Forecasting Methodology
Wille et al. Modeling and course control of sailboats
CN116627043B (en) Regional power positioning control method of combined anchoring system
Tsukada et al. An auxiliary thruster for free-running model ship test
CN106527454B (en) A kind of long-range submarine navigation device depth-setting control method of no steady-state error
Ueno et al. Rudder effectiveness correction for scale model ship testing
Sakamoto et al. Identification of KVLCC2 manoeuvring parameters for a modular-type mathematical model by RaNS method with an overset approach
CN111483568A (en) Dynamic positioning model test control method and system based on wind current feedforward
KR20170071440A (en) Parameter Adaptive Backstepping Control AUV System
Miklosovic et al. Ship air wake wind tunnel test results
CN111538242B (en) Uncertainty estimation and saturation compensation dynamic positioning T-S fuzzy anti-saturation control method
CN109033628B (en) Method and system for manufacturing helicopter dynamic landing wind limit diagram
CN110209181A (en) A kind of underwater cleaning robot based on rangefinder independently erects land ship side control method
CN105180944A (en) Judgment and compensation method for hull sideslipping speed error
Steenson et al. Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces
Nakashima et al. A basic study for propulsive performance prediction of a cascade of wing sails considering their aerodynamic interaction
CN110837254B (en) Longitudinal motion control method for hydrofoil craft
Revestido et al. Parameter estimation of ship linear maneuvering models
JP5296736B2 (en) Incidence wave height and wave direction estimation method, automatic channel or / and ship position maintaining control method, automatic channel or / and ship position maintaining control system, and ship and offshore structure
Collins et al. Experimental testing and numerical modeling of small-scale boat with drag-reducing air-cavity system
CN111469999A (en) Dynamic positioning model test control method and system based on wave feedforward
Bühler et al. Dynamic simulation model for an autonomous sailboat
Martin et al. Boundary Layer Transition Models for Naval Applications: Capabilities and Limitations

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