CN115180084A - Wave compensation anti-swing method for active ship - Google Patents
Wave compensation anti-swing method for active ship Download PDFInfo
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- CN115180084A CN115180084A CN202210928144.8A CN202210928144A CN115180084A CN 115180084 A CN115180084 A CN 115180084A CN 202210928144 A CN202210928144 A CN 202210928144A CN 115180084 A CN115180084 A CN 115180084A
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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Abstract
The invention discloses a wave compensation anti-swing method for an active ship, which comprises the following steps: analyzing energy dissipation by adopting an automatic anti-shaking control algorithm of an under-actuated system based on energy dissipation, distributing energy according to the actual working condition of the system, analyzing wave motion by adopting a displacement sensor and a hydraulic compensation cylinder system and combining a wave motion short-time forecasting algorithm based on a time sequence, dividing the track of the wave motion according to time, and predicting and analyzing the actual track of the system under the next step length by a controller under the condition of setting a fixed step length; the signal acquisition method based on the extended Kalman filtering utilizes a linear system state equation to observe and collect data through input and output of the system; the wave compensation system is controlled through a wave compensation core intelligent control algorithm under time lag, and the invention improves the responsiveness of the system through intelligent control and reduces delay faults of the system.
Description
Technical Field
The invention relates to the field of shipping, in particular to a wave compensation anti-swing method for an active ship.
Background
The idea of intelligent control has emerged in the 60's of the 20 th century. At that time, studies on learning control were actively conducted and achieved good application. Such as self-learning and adaptive methods, are developed to solve the random nature problem and model unknown problem of the control system. The intelligent control is a control mode with intelligent information processing, intelligent information feedback and intelligent control decision, is a high-level stage of control theory development, and is mainly used for solving the control problem of a complex system which is difficult to solve by using a traditional method. The main characteristics of an intelligent control research object are a mathematical model with uncertainty, high nonlinearity and complex task requirements.
The intelligent control is characterized by the following aspects: (1) The core of intelligent control is high-level control, effective global control can be carried out on a complex system (such as nonlinearity, fast time variation, complex multivariable, environmental disturbance and the like), generalized problem solving is realized, and the fault-tolerant capability is strong. (2) The intelligent control system can use a non-mathematical generalized model represented by knowledge and a mixed control process represented by mathematics, and adopts a multi-mode control mode combining open-close loop control, qualitative decision and quantitative control. (3) The basic purpose of which is to analyze and synthesize the system from the point of view of its function and overall optimization in order to achieve the intended goals. The intelligent control system has the characteristic of variable structure, can totally optimize, and has the capabilities of self-adaption, self-organization, self-learning and self-coordination. (4) The intelligent control system has sufficient knowledge about the control strategy of the person, the controlled object and the environment, and the ability to use the knowledge. (5) The intelligent control system has compensation and self-repair capability and decision-making judgment capability. In the future, intelligent control will be applied to various aspects and various fields, and will have wide application in production processes, advanced manufacturing systems and power systems, especially under the background that the national initiatives are strongly advocated to develop ocean industry nowadays, intelligent control technology will have great use in the exploitation and exploration of ocean resources, and a stable system and method with high compensation precision and high compensation efficiency are urgently needed.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a wave compensation anti-shaking method for an active ship.
In order to achieve the purpose, the invention adopts the technical scheme that: a wave compensation anti-sway method for an active type ship comprises the following steps: the method is characterized by comprising the following steps: s1: analyzing energy dissipation by adopting an automatic anti-shaking control algorithm of an under-actuated system based on the energy dissipation, distributing energy according to the actual working condition of the system, and S2: analyzing wave motion by adopting a displacement sensor and a hydraulic compensation cylinder system and combining a wave motion short-time forecasting algorithm based on a time sequence, dividing the track of the wave motion according to time, and predicting and analyzing the actual track of the system under the next step length by a controller under the condition of setting a fixed step length; s3: the signal acquisition method based on the extended Kalman filtering utilizes a linear system state equation to observe and collect data through input and output of the system; s4: the wave compensation system is controlled through a wave compensation core intelligent control algorithm under time lag, so that the universality of the system is improved; s5: and adjusting the PID parameters according to the actual sea condition on the basis of the preset PID parameters through an adaptive fuzzy PID control algorithm.
In a preferred embodiment of the present invention, in step S1, an under-actuated system is adopted to further improve the fault-tolerant control function of the system.
In a preferred embodiment of the present invention, in step S2, the iterative calculation and the rolling optimization are performed continuously to achieve the purpose of continuously reducing the error between the actual displacement and the expected displacement.
In a preferred embodiment of the present invention, in step S3, the influence of noise and interference in the system is removed, and the signal is filtered.
In a preferred embodiment of the present invention, in step S4, the wave compensation system is controlled based on artificial intelligence and a reinforcement learning design intelligent algorithm to reduce errors.
In a preferred embodiment of the present invention, in step S5, automatic adjustment is performed by an adaptive fuzzy PID control algorithm.
In a preferred embodiment of the present invention, in step S2, the error between the actual silicon substrate and the expected value is calculated.
The invention solves the defects in the background technology, and has the following beneficial effects:
the invention adopts an intelligent calculation method to analyze energy dissipation, adopts a wave motion short-time forecasting algorithm based on a time sequence, adopts a signal acquisition method based on extended Kalman filtering, adopts a wave compensation core intelligent control algorithm under time lag and a self-adaptive fuzzy PID control algorithm, distributes energy according to the actual working condition of the system, thereby saving energy by 30 percent, and simultaneously adopts an underactuated system to further improve the fault-tolerant control function of the system, thereby further improving the responsiveness of the system, reducing the delay fault of the system, perfectly realizing the aims of improving energy conservation and reliability by combining the two algorithms, and playing the roles of automatically adjusting and automatically improving the control effect.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
Detailed Description
Reference throughout this specification to "one embodiment," "an embodiment," or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least some embodiments, but not necessarily all embodiments, of the embodiments. If the specification states a component, feature, structure, or characteristic "may", "might", or "could" be included, that particular component, feature, structure, or characteristic is not required to be included. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
A wave compensation anti-sway method for an active ship comprises the following steps:
a) An automatic anti-swing control algorithm of an under-actuated system based on energy dissipation is as follows: the energy dissipation is analyzed by adopting an intelligent calculation method, and the energy is distributed according to the actual working condition of the system, so that the energy can be saved by 30%, and meanwhile, the fault-tolerant control function of the system can be further improved by adopting an under-actuated system, so that the responsiveness of the system can be further improved, the delay fault of the system can be reduced, and the purposes of improving the energy saving performance and improving the reliability can be perfectly realized by combining the energy dissipation and the fault-tolerant control function.
b) The wave motion short-time forecasting algorithm based on the time series comprises the following steps: the method comprises the steps of analyzing wave motion by adopting a displacement sensor and a hydraulic compensation cylinder system in combination with an algorithm, designing a wave compensation system, dividing the track of the wave motion according to time, predicting and analyzing the actual track of the system under the next step under the action of a controller under the condition of setting a fixed step length, calculating the error between the actual track and the expected value, and performing continuous iterative calculation and rolling optimization to achieve the purpose of continuously reducing the actual displacement and the expected displacement error.
c) The signal acquisition method based on the extended Kalman filtering comprises the following steps: according to the method, a linear system state equation is used, data are observed through system input and output, meanwhile, the state of the system needs to be optimally estimated, interference factors need to be removed due to the fact that the observed data comprise the influence of noise and interference in the system, signals are filtered and collected, and the reliability of the designed system can be further improved.
d) The intelligent control algorithm of the wave compensation core under time lag: according to the method, a certain response hysteresis possibly exists in the system in engineering practice, so that research is developed based on the time lag, and meanwhile, an intelligent algorithm is designed to control the wave compensation system based on artificial intelligence and reinforcement learning, so that the universality of the system can be further improved, errors of research and practice can be reduced, and the research precision is improved.
e) An adaptive fuzzy PID control algorithm: the method can adjust the PID parameters according to the actual sea condition on the basis of the preset PID parameters, thereby achieving a better control effect. The functions of automatic adjustment and automatic improvement of control effect are achieved.
The present invention can also be applied to the following embodiments,
(1) The anti-swing system of the port crane comprises a displacement sensor, an offset angle sensor, an A/D digital-analog sensor, a control system and a two-way communication system, wherein the control system and the two-way communication system take a computer as a core, the control system can play a role in preventing the port crane from swinging by depending on a designed scheme, and the residual swinging amount of the port crane is within 10 percent. By calculating the shaking amplitude of the crane, the residual shaking of the crane after the system is adopted can be calculated to be within 10 percent. The current research aiming at the crane is concentrated on a trolley-hoisting system on land, and the model is greatly simplified; at present, the research on the shipborne crane mostly takes a rotary folding arm type structure as a research object, and the research on the bridge type structure shipborne crane is less; the floating container crane system has parameter perturbation and marine environment interference, most of the control strategies proposed in the existing documents do not fully consider the factors, so that the existing control strategies are generally low in robustness, compared with foreign competitive products, the cost of the system is 30% lower than that of the foreign competitive products, and the reliability and the responsiveness of the system are 20% higher than those of the foreign competitive products.
(2) The general expression form of the product is crane and floating crane, which are important components in marine equipment, and mainly produce a stable crane system for marine operation, and a set of control scheme is established by relying on a digital twin platform, and the residual motion of the marine crane is within 10%. Compared with the similar products at home and abroad, the compensation efficiency can be improved by 15%, the system cost is reduced by 25%, the system responsiveness can be improved by 10%, and the system has simple structure and high reliability and is widely applied to the field of maritime work.
(3) The mining ship wave compensation system: the product is designed mainly for reducing the heave movement of an ocean mining ship, so that the mining ship can be ensured to stably run under the irregular influence of sea waves. The forming structure comprises a hydraulic cylinder, a pulley, a mooring rope and a controller, and comprises a hydraulic cylinder system, a relay bin system, an ore distribution pipeline, a displacement sensor, a fuzzy PID controller and a corresponding circuit topology. In order to avoid the heave influence on the wave caused by the irregular motion of the wave, an active-passive composite wave compensation system combining the defects of the passive wave compensation system and the active wave compensation system needs to be designed, the research and the design need to be carried out based on MATLAB/AMEstim joint simulation, and meanwhile, the research on a mechanical system needs to be developed by designing a fuzzy PID controller by taking a control algorithm as an entry point, so that the compensation precision exceeds 90%. Compared with the similar products at home and abroad, the compensation precision can be improved by 15 percent, the system floor area can be reduced by 30 percent, the cost is saved by 30 percent, and the system has high reliability and high compensation precision.
The mining ship is necessary because the exploitation of ocean resources is very important at present, but the wave compensation system is also necessary for ensuring the stability of the mining ship during operation, but the design and the improvement of the wave compensation system of the mining ship in the market are based on mechanical angles, and the mining ship is large in size and large in occupied area.
(4) The stabilizing system of the marine trestle comprises: the product is mainly used for enabling technicians to have a more stable and safer platform when the wind driven generator is maintained, and the platform comprises a displacement sensor, a compensation system, an A/D converter and the like. The compensation efficiency of the system can be improved by 15% and the cost can be reduced by 30% compared with similar products at home and abroad, and the product has the characteristic of high reliability. The invention carries out system design for the entry point from reducing participation in sports and improving reliability, thereby leading the designed product to have lower residual motion amount within 10 percent compared with the competitive products on the market, and having better stability and reliability.
TABLE I is a comparison chart of domestic and foreign products
Watch 1
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. A wave compensation anti-swing method for an active ship is characterized by comprising the following steps:
s1: the automatic anti-shaking control algorithm of the under-actuated system based on energy dissipation is adopted to analyze the energy dissipation and distribute the energy according to the actual working condition of the system,
s2: analyzing wave motion by adopting a displacement sensor and a hydraulic compensation cylinder system and combining a wave motion short-time forecasting algorithm based on a time sequence, dividing the track of the wave motion according to time, and predicting and analyzing the actual track of the system under the next step length by a controller under the condition of setting a fixed step length;
s3: the signal acquisition method based on the extended Kalman filtering utilizes a linear system state equation to observe and collect data through input and output of the system;
s4: the wave compensation system is controlled through a wave compensation core intelligent control algorithm under time lag, so that the universality of the system is improved;
s5: and adjusting the PID parameters according to the actual sea condition on the basis of the preset PID parameters through an adaptive fuzzy PID control algorithm.
2. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in the step S1, an under-actuated system is adopted to further improve the fault-tolerant control function of the system.
3. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in step S2, continuous iterative computation and rolling optimization are performed to achieve the purpose of continuously reducing the actual displacement and the expected displacement error.
4. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in step S3, the influence of noise and interference in the system is removed, and the signal is filtered.
5. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in step S4, the wave compensation system is controlled based on artificial intelligence and a reinforcement learning design intelligent algorithm, and errors are reduced.
6. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in step S5, automatic adjustment is performed through an adaptive fuzzy PID control algorithm.
7. The wave compensation anti-sway method for an active ship according to claim 1, characterized in that: in step S2, an error from the expected value is calculated from the actual silicon substrate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210928144.8A CN115180084A (en) | 2022-08-03 | 2022-08-03 | Wave compensation anti-swing method for active ship |
| PCT/CN2022/118883 WO2024026985A1 (en) | 2022-08-03 | 2022-09-15 | Active heave compensation-based anti-swing method for ship |
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| CN202210928144.8A CN115180084A (en) | 2022-08-03 | 2022-08-03 | Wave compensation anti-swing method for active ship |
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| WO (1) | WO2024026985A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116227159A (en) * | 2023-01-13 | 2023-06-06 | 江苏恒赛海洋科技有限公司 | Displacement acquisition and verification device based on acceleration secondary integration |
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| WO2024026985A1 (en) | 2024-02-08 |
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