CN112051845A - Distributed cluster control system and method for unmanned towing operation - Google Patents
Distributed cluster control system and method for unmanned towing operation Download PDFInfo
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Abstract
The invention discloses a distributed cluster control system and a distributed cluster control method for unmanned towing operation, which solve the defects of complicated procedure, complex operation and large risk and low efficiency of the traditional towing operation; calculating an expected position which needs to be reached in the next step of the towed mother ship by a PID control method according to the deviation of the current position of the towed mother ship and an expected towing track; calculating to obtain an expected position of each unmanned tug to arrive at next step according to the expected position of the towed mother ship to arrive; the invention relates to a distributed cluster control method for unmanned towing operation, which aims at unmanned towing operation on sea, and can make the offshore towing operation unmanned and intelligent and effectively improve the efficiency of towing operation.
Description
Technical Field
The invention relates to the field of ocean engineering, in particular to a distributed cluster control system and a distributed cluster control method for unmanned towing operation.
Background
With the development of global shipping business and the increase of navigation density, towing business also enters a busy stage. Meanwhile, ships gradually grow to be large-scale, and are difficult to operate under special working conditions such as port entering and exiting, dock leaning and leaving and the like, and the ships need to be assisted to be operated by means of towing wheels. The towing needs to be completed for the rescue of barges without self-propulsion or ships without self-propulsion. In addition, the transfer of the offshore drilling platform is also accomplished by towing operations on a tug boat.
Most of the traditional towing operations depend on the captain and the experience of a pilot to carry out field strain, the control mode is difficult to accurately set and control a towing route, and meanwhile, the towing and navigating danger can be increased. Meanwhile, the pilot sends an instruction to a plurality of towboat captain through a pager, and corresponding towing actions are finished from the completion of the instruction one by one to the completion of each towboat, and a certain delay exists between the instructions, so that accidents are easily caused in increasingly busy airlines and harbors. The traditional manual towing operation still has the defects of complex procedures, complex operation, high risk, low efficiency and the like.
Disclosure of Invention
The invention aims to provide a distributed cluster control system and a distributed cluster control method for unmanned towing operation, which can enable offshore towing operation to be unmanned and intelligent and effectively improve towing operation efficiency.
The technical purpose of the invention is realized by the following technical scheme:
a distributed cluster control method for unmanned towing operation comprises the following steps:
determining the destination of towing operation of the towed mother ship, and planning an expected towing track of the towed mother ship;
calculating an expected position which needs to be reached in the next step of the towed mother ship by a PID control method according to the deviation of the current position of the towed mother ship and an expected towing track;
calculating to obtain an expected position of each unmanned tug to arrive at next step according to the expected position of the towed mother ship to arrive;
the expected positions of the unmanned tug ships which need to arrive are formed through the respective dynamic positioning modules of the unmanned tug ships, and towing operation of the towed mother ships is completed by towing the towed mother ships through the cables.
Preferably, the planning of the towing track of the towed mother ship is as follows:
the towing track of the towed mother ship is drawn out through an open-loop low-pass filtering law,
wherein, Pd(s) is a towing track planned in a frequency domain, and the towing track in a time domain can be obtained through Fourier transform; omeganiAnd ζiRespectively the natural frequency and the relative damping coefficient, h, of the towed parent vessellp(s) is the corresponding transfer function, s stands for solution in the frequency domain.
Preferably, the expected position of the towed mother vessel to arrive at is calculated as follows:
according to the calculation of the PID control method,
wherein, PdAnd PloadRespectively the expected towing path and the current position of the mother vessel, Kp、KDAnd KIRespectively proportional, derivative and integral gains in PID control.
Preferably, the calculation of the expected position required to be reached by the unmanned tug is specifically as follows:
wherein, KijAnd GijRespectively the cooperative control gain of position and velocity,jiis the relative distance between ship j and ship i, and is a constant set in advance according to the formation.
A distributed cluster control system for unmanned towing operation comprises a towed mother ship, a plurality of unmanned towing ships for towing the towed mother ship by cables, and a distributed control system for controlling the towed mother ship and the unmanned towing ships;
the towed mother ship is provided with a positioning navigation module and a communication module;
the unmanned tug comprises a control module, a propulsion module, an environment sensing module, a communication module and a dynamic positioning module for dynamic positioning;
the distributed control system is installed on the towed mother ship and is in communication connection with a positioning navigation module and a communication module of the towed mother ship.
Preferably, the control of the towed parent ship and the unmanned towed ship by the distributed control system is a pilot-follower communication topological structure, the towed parent ship is a virtual pilot, and the unmanned towed ship is a formation follower; and the towed mother ship is set with an expected towing track, and the distributed control system controls the unmanned towing ship to follow the expected towing track to dynamically form a queue according to a consistency protocol.
Preferably, the environment sensing module of the unmanned tug comprises an anemometer for detecting the ambient wind speed, a laser radar for judging the wind direction and a binocular camera for judging the obstacle information in the navigation area.
Preferably, the positioning navigation module of the towed parent ship and the positioning module of the unmanned tow ship both comprise a differential global positioning system for collecting position information in real time, a doppler velocimeter for collecting navigational speed information and an inertial navigator for collecting heading information.
Preferably, the communication module is used for performing data communication for a wireless station, and two-way communication is performed between adjacent unmanned tugs to share position information and speed information; and the towed mother ship and any unmanned towing ship are in bidirectional communication.
In conclusion, the invention has the following beneficial effects:
through being connected by towed mother's ship and unmanned towboat, carry out unmanned control through distributed control system, the cooperative control accomplishes the operation of towing, and distributed control is strong in robustness, and the flexibility ratio is high, and scalability is high, more high-efficient, intelligent.
Drawings
FIG. 1 is a schematic diagram of the present system;
FIG. 2 is a schematic view of the communication topology between a towed parent vessel and an unmanned tow vessel;
FIG. 3 is a schematic block flow diagram of the present method;
fig. 4 is an unmanned towing work principle diagram.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to one or more embodiments, a distributed cluster control system for unmanned towing operation is disclosed, as shown in fig. 1, including a towed mother ship, a plurality of unmanned towing ships towing the towed mother ship by cables, and a distributed control system for controlling the towed mother ship and the unmanned towing ships.
The towed mother ship is provided with a positioning navigation module and a communication module. The unmanned tug comprises a control module, a propelling module, an environment sensing module, a communication module and a positioning module for dynamic positioning. The distributed control system is installed on the towed mother ship, is in communication connection with the positioning navigation module and the communication module of the towed mother ship, and is in communication connection with the unmanned towed ship.
The unmanned tug is provided with a plurality of and preferably four, and the environment perception module comprises an anemometer for detecting the ambient wind speed, a laser radar for judging the wind direction and a binocular camera for judging the obstacle information in the navigation area.
The positioning navigation module of the towed parent ship and the positioning module of the unmanned tow ship both comprise a differential global positioning system for collecting position information in real time, a Doppler velocimeter for collecting navigational speed information and an inertial navigator for collecting course information.
The distributed control system controls the towed parent ship and the unmanned towed ship to be in a pilot-follower communication topological structure, the towed parent ship is a virtual pilot, and the unmanned towed ship is a formation follower; an expected towing track is set for the towed parent ship, and the distributed control system controls the unmanned towing ship to follow the expected towing track according to the consistency protocol to dynamically form a formation.
The communication module performs data communication for the radio station, as shown in fig. 2, where L represents a towed mother ship, numerals 1 to 4 represent four unmanned tow ships, respectively, and two-way communication is performed between adjacent unmanned tow ships to share position information and speed information; the towed mother ship and any unmanned towing ship are communicated in two directions.
The distributed control system is installed on the towed mother ship, is connected with the positioning navigation module and the communication module of the towed mother ship, and carries out real-time data transmission with the unmanned towed ship through the communication module. By referring to a common pilot-follower communication topological structure in multi-agent formation control, a towed parent ship is regarded as a virtual pilot, and a plurality of unmanned towed ships are regarded as formation followers. And taking an expected towing track of the towed parent ship as a navigation track of the whole formation, controlling the unmanned towed ship to follow the navigation track by a consistency protocol to complete dynamic formation, and towing through a cable connected between the towed parent ship and the unmanned towed ship to complete towing operation. Compared with the traditional multi-agent centralized control mode, the distributed control has strong robustness, high flexibility and high expandability. Aiming at the track generation of formation, a second-order filtering track generation method is designed. The wireless communication system based on the radio station realizes data exchange between the towed mother ship and the unmanned towed ship.
According to one or more embodiments, a distributed cluster control method for unmanned towing operation is disclosed, as shown in fig. 3 and 4, the method specifically includes the following steps:
determining the destination of towing operation of the towed mother ship, and planning an expected towing track of the towed mother ship;
calculating an expected position which needs to be reached in the next step of the towed mother ship by a PID control method according to the deviation of the current position of the towed mother ship and an expected towing track;
calculating to obtain an expected position of each unmanned tug to arrive at next step according to the expected position of the towed mother ship to arrive;
the expected positions of the unmanned tug ships which need to arrive are formed by the respective dynamic positioning systems of the unmanned tug ships, and the tug operation of the tug ships is completed by dragging the tug ships by cables.
The towing track of the towed mother ship is planned as follows:
the towing track of the towed mother ship is drawn out through an open-loop low-pass filtering law,
wherein, Pd(s) is a towing track planned in a frequency domain, and the towing track in a time domain can be obtained through Fourier transform; omeganiAnd ζiRespectively the natural frequency and the relative damping coefficient, h, of the towed parent vessellp(s) is the corresponding transfer function, s stands for solution in the frequency domain.
The expected position of the towed parent vessel to arrive is calculated as follows:
according to the calculation of the PID control method,
wherein, PdAnd PloadRespectively the expected towing path and the current position of the mother vessel, Kp、KDAnd KIRespectively proportional, derivative and integral gains in PID control.
And according to the consistency protocol, formation control of the towed mother ship and the plurality of unmanned towing ships is realized. According to the expected position u of the towed parent vessel, i.e. the pilotLCalculating the expected position R of each tug needed to arrive nexti. The calculation of the expected position required to be reached by the unmanned tug is specifically as follows:
wherein, KijAnd GijRespectively the cooperative control gain of position and velocity,jiis the relative distance between ship j and ship i, and is a constant set in advance according to the formation.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (9)
1. A distributed cluster control method for unmanned towing operation is characterized by comprising the following steps:
determining the destination of towing operation of the towed mother ship, and planning an expected towing track of the towed mother ship;
calculating an expected position which needs to be reached in the next step of the towed mother ship by a PID control method according to the deviation of the current position of the towed mother ship and an expected towing track;
calculating to obtain an expected position of each unmanned tug to arrive at next step according to the expected position of the towed mother ship to arrive;
the expected positions of the unmanned tug ships which need to arrive are formed through the respective dynamic positioning modules of the unmanned tug ships, and towing operation of the towed mother ships is completed by towing the towed mother ships through the cables.
2. The unmanned towing operation-oriented distributed cluster control method according to claim 1, wherein the towing path of the towed parent vessel is planned as follows:
the towing track of the towed mother ship is drawn out through an open-loop low-pass filtering law,
wherein, Pd(s) is a towing track planned in a frequency domain, and the towing track in a time domain can be obtained through Fourier transform; omeganiAnd ζiRespectively the natural frequency and the relative damping coefficient, h, of the towed parent vessellp(s) is the corresponding transfer function, s stands for solution in the frequency domain.
3. The unmanned towing operations-oriented distributed cluster control method according to claim 2, wherein the expected arrival position of the towed mother vessel is calculated as follows:
according to the calculation of the PID control method,
wherein, PdAnd PloadRespectively the expected towing path and the current position of the mother vessel, Kp、KDAnd KIRespectively proportional, derivative and integral gains in PID control.
4. The unmanned towing operation-oriented distributed cluster control method according to claim 3, wherein the calculation of the expected position to be reached by the unmanned towing vessel is as follows:
wherein, KijAnd GijRespectively the cooperative control gain of position and velocity,jiis the relative distance between ship j and ship i, and is a constant set in advance according to the formation.
5. A distributed cluster control system for unmanned towing operation is characterized in that: the system comprises a towed mother ship, a plurality of unmanned towing ships for towing the towed mother ship through cables, and a distributed control system for controlling the towed mother ship and the unmanned towing ships;
the towed mother ship is provided with a positioning navigation module and a communication module;
the unmanned tug comprises a control module, a propulsion module, an environment sensing module, a communication module and a dynamic positioning module for dynamic positioning;
the distributed control system is installed on the towed mother ship and is in communication connection with a positioning navigation module and a communication module of the towed mother ship.
6. The unmanned towing operation-oriented distributed cluster control system according to claim 5, wherein: the distributed control system controls a towed parent ship and an unmanned towed ship to be in a pilot-follower communication topological structure, the towed parent ship is a virtual pilot, and the unmanned towed ship is a formation follower; and the towed mother ship is set with an expected towing track, and the distributed control system controls the unmanned towing ship to follow the expected towing track to dynamically form a queue according to a consistency protocol.
7. The unmanned towing operation-oriented distributed cluster control system according to claim 6, wherein: the environment sensing module of the unmanned tug comprises an anemometer for detecting the ambient wind speed, a laser radar for judging the wind direction and a binocular camera for judging the information of obstacles in the navigation area.
8. The unmanned towing operation-oriented distributed cluster control system according to claim 7, wherein: the positioning navigation module of the towed parent ship and the positioning module of the unmanned tow ship respectively comprise a differential global positioning system for collecting position information in real time, a Doppler velocimeter for collecting navigational speed information and an inertial navigator for collecting course information.
9. The unmanned towing operation-oriented distributed cluster control system according to claim 8, wherein: the communication module is used for carrying out data communication for the wireless radio station, and two-way communication is carried out between adjacent unmanned tugs so as to share position information and speed information; and the towed mother ship and any unmanned towing ship are in bidirectional communication.
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| CN112859867A (en) * | 2021-01-19 | 2021-05-28 | 武汉理工大学 | Ship berthing and departing control system and method based on multi-tug cooperation |
| CN114063442A (en) * | 2021-11-25 | 2022-02-18 | 中国船舶重工集团公司第七0七研究所 | Ship towing operation PID course control method based on neural network |
| CN116540730A (en) * | 2023-05-30 | 2023-08-04 | 武汉理工大学 | Multi-tug cooperation berthing intelligent auxiliary system and method |
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| CN114063442A (en) * | 2021-11-25 | 2022-02-18 | 中国船舶重工集团公司第七0七研究所 | Ship towing operation PID course control method based on neural network |
| CN114063442B (en) * | 2021-11-25 | 2023-04-28 | 中国船舶重工集团公司第七0七研究所 | Ship dragging operation PID course control method based on neural network |
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