CN117828239B - Control method for cable reeling and unreeling in ship stabilizing process of full-floating leveling - Google Patents
Control method for cable reeling and unreeling in ship stabilizing process of full-floating leveling Download PDFInfo
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Abstract
The invention relates to the technical field of submarine tunnel gravel foundation bed leveling, in particular to a control method for cable winding and unwinding in a ship stabilizing process of full-floating leveling, which comprises the following steps: s1, determining the ship heading of a leveling ship; s2, calculating the sine and cosine of the heading angle; s3, calculating the engineering coordinate variation of the cable outlet point of the leveling ship after moving; S4, calculating the rope length of the mooring rope after ship moving; S5, calculating a cable outlet angle of the cable outlet point after ship moving; S6, calculating the split tension of the cable; s7, calculating resultant force and resultant moment of the ship body during ship stabilizing; according to Newton's second law, force is decomposed to x axis and y axis to calculate respectively, all indexes in the course of ship movement are collected, the tension of all cables is changed by controlling forward and reverse rotation and rotating speed of the anchor machine so that the actually measured tension value reaches the ideal tension value in the resultant force model, the resultant force of the tension on sea level is zero, and finally the ship is stabilized.
Description
Technical Field
The invention relates to the technical field of submarine tunnel gravel foundation bed leveling, in particular to a control method for cable winding and unwinding in a ship stabilizing process of full-floating leveling.
Background
At present, the full-floating leveling process is basically mature, has good application effect and can meet the installation requirement of immersed tubes, but when in full-floating leveling construction, the ship body is extremely easy to be influenced by factors such as tides, waves and the like, in order to minimize the influences, the ship body positioning, anchor cable pre-tensioning and ship body leveling must be strictly controlled, and meanwhile, the technical difficulty, personnel investment and the like are correspondingly increased. Therefore, in the process of positioning the ship body and pre-stretching the anchor cable, the ship is positioned in the fixed range of the target point and is stabilized by the tension action of the anchor cable.
The ship body needs to go through three stages in total in the process of automatic positioning, namely a starting stage, a ship moving stage and a ship stabilizing stage. The starting stage is an acceleration stage, the ship moving stage is a constant speed stage, and the ship stabilizing stage is a deceleration to rest stage, so that the resultant force in the ship stabilizing stage is zero.
And finally, in the ship stabilizing stage, the ship body is required to stay within 5cm of the specified GPS coordinates, the actual measurement GPS coordinates and the target point GPS coordinates are required to be ensured to be basically consistent after the ship body enters the circle, and the resultant force is ensured to be zero. The ship is stabilized by adjusting the forward and reverse rotation of the corresponding anchor machine and indirectly adjusting the tension according to the difference value between the actually measured tension and the ideal tension of the anchor machine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for controlling the cable reeling and unreeling in the process of stabilizing the ship by full-floating leveling based on a resultant force model.
The invention provides a control method for cable reeling and unreeling in a ship stabilizing process of full-floating leveling, which comprises the following steps:
s1, determining the ship heading of the leveling ship:
establishing an installation coordinate system, taking a stern starboard as a coordinate origin, determining installation coordinates of a first GPS system positioned at the stern and a second GPS system positioned at the bow of the leveling ship under the installation coordinate system, wherein the installation coordinates are respectively the first GPS system Second GPS System/>；
The real-time engineering coordinates of the first GPS system are as followsThe real-time engineering coordinates of the second GPS system are/>，
The leveling ship takes the first GPS system as a rotation center and rotates anticlockwise by an angle，/>Namely, the heading angle is calculated according to a trigonometric function method and a linear slope method, and the heading angle/>, in the range of a first quadrant, a second quadrant, a third quadrant and a fourth quadrant, of the leveling ship under the installation coordinate system is calculated respectivelyDetermining the heading of the leveling ship;
S2, calculating the sine and cosine of the heading angle:
according to the heading angles calculated in the step S1 Calculate sine/>Cosine/>；
S3, calculating the engineering coordinate variation of the cable outlet point of the leveling ship after moving：
Acquiring installation coordinates of each cable outlet point on the leveling ship under an installation coordinate system；
The coordinates of the first GPS system at the initial point are assumed to beCalculating the heading angle at the initial pointAt the time, engineering coordinates/>, of each cable outlet pointThe method comprises the following steps:
；
after the ship is moved, the coordinates of the first GPS system are as follows Calculating the heading angle/>When the current cable outlet point is in engineering coordinates/>The method comprises the following steps:
；
Engineering coordinate variation of cable outlet point The formula is:
s4, calculating the rope length of the mooring rope after ship moving ：
According to anchor coordinatesEngineering coordinates of the current cable outlet point/>And the sea water depth h, calculating the rope length/>, of the cableThe method comprises the following steps:
s5, calculating a cable outlet angle of the cable outlet point after ship moving ：
The cable outlet angle refers to an included angle formed by projection of a cable on the sea level and the boundary of the bow or the stern, and a sensor is used for measuring the length of each cable outlet point of the leveling ship at the initial positionRope length after ship moving obtained in step S4/>And engineering coordinate variation amount/>, of the cable exit point obtained in step S3Dividing the cable outlet points into four quadrants with 0 to +.infinity as a radius by taking the cable outlet points as circle centers, and calculating cable outlet angles/>, of the cable outlet points；
S6, calculating the split tension of the cable:
According to the length of the cable at the initial point And the sea water depth h to calculate the cable vertical angle/>The cable vertical angle refers to an included angle formed by projection of the cable and the cable at the sea level, is a function of the length of the cable and the depth of the sea, and has the cosine:
The tension of the cable refers to the component force value of the resultant force applied to the hull in the directions of the x axis and the y axis 、/>The tension value of each cable, the cosine of the cable angle and the sine and cosine of the cable outlet angle are functions, and the functions are as follows:
s7, calculating resultant force and resultant moment of the ship body during ship stabilizing:
because the system is in a static equilibrium state during ship stabilizing, the resultant force of the system And resultant moment/>All are 0, namely:
Wherein, F x is the component force of the system in the x direction, F y is the component force of the system in the y direction, and F Z is the component force of the system in the z direction; m x is the component moment of the system in the x direction, M y is the component moment of the system in the y direction, and M z is the component moment of the system in the z direction; moment of inertia representing force in x-axis direction,/> Moment of inertia representing force in y-axis direction,/>A moment of inertia representing a force in the z-axis direction, i.e., a position vector from an application point of the force to a coordinate axis on which the force is located; /(I)Influence the motion state of the ship body along the directions of the x axis, the y axis and the z axis,/>Affecting roll, pitch, yaw motions of the hull about the x-axis, y-axis, and z-axis, i.e., motions of the hull in six degrees of freedom.
Because the leveling ship moves on the sea level, the anchoring positioning system is used for positioning in the x and y coordinate directions of the sea level, the fluctuation motion on the z axis is not considered, the rolling and pitching of the ship body are controlled by the leveling system, and the rolling is controlled by the cable winding and unwinding; therefore, only the resultant force of the x axis and the y axis is considered, the resultant force of the x axis and the y axis refers to the value obtained by adding and subtracting the component force values of the resultant force born by the ship body in the directions of the x axis and the y axis together, and the resultant force is a function of the component tension;
Calculating the y force value of the ship body:
Because the resultant force applied to the hull in the ship stabilizing stage is zero, ；
Resultant force in x-axis directionAnd resultant force in y-axis direction/>And resultant force in z-axis direction/>；
Substituting the rope tension formula in the step S6 to obtain:
Obtaining ；
Will/>, as the ideal tension of the cableAnd after the actual measurement pulling force of the tension sensor of each mooring rope is compared with the actual measurement pulling force of each mooring rope, the anchoring machine is controlled to reel and unreel the mooring rope so as to realize ship stabilization.
According to the technical scheme, a resultant force model of the anchoring positioning system is calculated according to the Newton's second law, forces are decomposed to an x axis and a y axis according to the Newton's second law to be calculated respectively, all indexes in the ship body motion process are collected, the tension of all cables is changed by controlling the forward rotation and the reverse rotation of an anchor machine to enable the actually measured tension value to reach an ideal tension value in the resultant force model, the resultant force of the tension on the sea level is enabled to be zero, and finally the ship stabilizing is achieved.
In some embodiments of the present application, in step S1, when the planing boat is rotating around the first GPS system, the planing boat rotates anticlockwise by an angle within the first quadrant of the installation coordinate systemCalculating the heading angle/>The method comprises the following steps:
。
In some embodiments of the present application, in step S1, when the planing boat is rotating around the first GPS system, the planing boat rotates anticlockwise by an angle within the second quadrant of the installation coordinate system Calculating the heading angle/>The method comprises the following steps:
。
in some embodiments of the present application, in step S1, when the planing boat is rotating around the first GPS system, the planing boat rotates anticlockwise within the third quadrant of the installation coordinate system Calculating the heading angle/>The method comprises the following steps:
。
In some embodiments of the present application, in step S1, when the planing boat is rotating around the first GPS system, the planing boat rotates anticlockwise within the fourth quadrant of the installation coordinate system Calculating the heading angle/>The method comprises the following steps:
。
In some embodiments of the present application, in step S2, the heading angle in the four quadrants of the installation coordinate system is determined Obtaining the sine/>, of the heading angleThe method comprises the following steps:
；
Residual chord of heading angle The method comprises the following steps:
。
in some embodiments of the present application, step S5 obtains the cable outlet angle of the cable outlet point after the ship is moved After that, the sine/>, of the cable angle is calculatedCosine/>。
In some embodiments of the present application, three cables are symmetrically deployed at each end of the screed to balance the screed.
Based on the technical scheme, the invention calculates the resultant force model of the anchoring positioning system according to the Newton's second law, decomposes the force to the x axis and the y axis according to the Newton's second law, calculates respectively, gathers each index in the course of the ship movement, and changes the tension of each cable by controlling the forward rotation and the rotation speed of the anchor machine so that the actually measured tension value reaches the ideal tension value in the resultant force model, thus the resultant force of the tension on the sea level is zero, and the automatic displacement control of the ship and the ship stabilization in the high-precision positioning process are realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a six anchor positioning control according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an installation coordinate system in an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the attitude change of the planing boat after the planing boat is moved in the embodiment of the invention;
FIG. 4 is a view showing the heading angle of a planing boat hull rotated counterclockwise in a first quadrant of an installation coordinate system with a first GPS system as an origin in an embodiment of the present invention Schematic of (2);
FIG. 5 is a view showing the heading angle of a planing boat hull rotated counterclockwise in a second quadrant of the installation coordinate system with the first GPS system as the origin in an embodiment of the present invention Schematic of (2);
FIG. 6 is a view showing the heading angle of a planing boat hull rotated counterclockwise in a third quadrant of the installation coordinate system with the first GPS system as the origin Schematic of (2);
FIG. 7 is a view showing the heading angle of a planing boat hull rotated counterclockwise in the fourth quadrant of the installation coordinate system using the first GPS system as the origin Schematic of (2);
fig. 8 is a schematic diagram of calculating a cable angle in a ship moving process of the cable outlet point 1 according to an embodiment of the present invention;
Fig. 9 is a schematic diagram of calculating a cable angle in a ship moving process of a cable outlet point 2 according to an embodiment of the present invention;
fig. 10 is a schematic diagram of calculating a cable angle in a ship moving process of a cable outlet point 3 according to an embodiment of the present invention;
fig. 11 is a schematic diagram of calculating a cable angle in a ship moving process of the cable outlet point 4 according to an embodiment of the present invention;
fig. 12 is a schematic diagram of calculating a cable angle in a ship moving process of the cable outlet point 5 according to an embodiment of the present invention;
fig. 13 is a schematic diagram of calculating a cable angle in a ship moving process of the cable outlet point 6 according to an embodiment of the present invention;
FIG. 14 is a schematic view of a cable drop of an embodiment of the present invention;
FIG. 15 is a schematic diagram illustrating a force analysis of a planing hull under six cable tension according to an embodiment of the present invention;
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
According to the cable reeling and unreeling control method in the whole-floating leveling ship stabilizing positioning process, a ship body is controlled to be in a specified sea area by controlling an anchor machine within a range determined by a plurality of anchor points through anchor positioning, and finally the ship stabilizing is realized. The method takes an automatic anchoring positioning control system on a leveling ship as a carrier, wherein the automatic anchoring positioning control system comprises a GPS positioning system, an information input system, a measuring system, a core operation processing unit and a plurality of anchor machine control units; wherein:
The GPS positioning system provides two-point real-time position data of a ship bow and a ship stern for the core operation unit, and comprises a first GPS system and a second GPS system in the embodiment, in the figure 2, the GPS1 is the first GPS system and the GPS2 is the second GPS system;
The information input system is used for inputting control instruction information of the ship target moving position to the core operation processing unit;
the measuring system is used for measuring the length of the anchor rope and providing current rope length data for the core operation processing unit in the process of controlling the cable winding and unwinding operation;
The core operation unit is a core part of the whole automatic anchoring positioning control system, adopts an initialization calculation result to take charge of the function of controlling output according to input by the system, and realizes automatic positioning of ship anchoring by winding and unwinding cables;
The anchor machine control unit can form data interaction with the core operation processing unit, and control each anchor machine according to system input (including current GPS position information, target movement position information and current rope length), namely the anchor machine is controlled to be system output, and the cable winding and unwinding control of the system is directly realized through forward and reverse rotation of the anchor machine.
The anchoring automatic positioning control system realizes the functions of one-key positioning ship moving of operators, automatic operation of an anchor machine, graphical monitoring operation and system operation safety protection. The system mainly completes data exchange with a ship induction system, runs a ship moving positioning control algorithm and an intervention leveling automation system to acquire anchor state data and control an anchor. The slave system layer can be divided into a data interface module, an anchor control module, a control algorithm module, a man-machine interface, a safety protection module and the like.
The data interface module, the data includes two aspects, one is the position data of two GPS, provide the real-time ship position input data for automatic positioning system; one is the state data of 6 anchors, and provides input and output data for automatic shift of the ship (on one hand, the current state input data of the anchors is obtained, and on the other hand, the output data formed by the operation amount calculated by the control algorithm module is used for controlling the forward and reverse rotation and the running speed of the anchors).
The anchor machine control module is an independent module for automatically completing each operation of the anchor machine during ship stabilizing, and automatically completing all operations of the anchor machine operation and necessary safety protection in operation according to the operation quantity (tensile force and control quantity of cable length) of the anchor machine. As shown in figure 1, the anchor machine control module comprises six anchor machines, wherein 3 anchor machines are respectively arranged at the bow and the stern, and the positions of the anchor machines are dependent on the anchor distribution mode of the ship.
The control algorithm module is used for calculating real-time execution quantity of each anchor machine through a customized algorithm according to the related data acquired by the data interface module, intelligently scheduling forward and reverse rotation of the anchor machine and changing the tension of the cable through rotating speed to enable the actually measured tension value to reach an ideal tension value in the resultant force model, so that resultant force of the tension at sea level is zero, and finally, a ship stabilizing is realized, wherein the module is the most core module of the ship stabilizing.
And the man-machine interface module provides a monitoring situation and an operation window of the system for operators. The system has the functions of base map importing in construction operation areas, target ship position table importing, system parameter setting, real-time ship position display and auxiliary data monitoring.
And the safety protection module is realized by a set of logic judgment programs through a preset limit value of the running of the equipment. The main function of the system is to monitor the running state of each device in real time, output an alarm when abnormality is found and execute a corresponding protection program, so as to ensure the safe running of the system device.
Based on the anchoring automatic positioning control system, the cable winding and unwinding control method in the whole-floating leveling ship stabilizing process in the embodiment refers to six anchor points of which the other ends are fixed on the sea bottom, and the tension of the cable is changed by automatically controlling the forward rotation and the reverse rotation of the anchor machine so that the actually measured tension value reaches the ideal tension value in the resultant force model, and the resultant force of the tension on the sea surface is zero, so that the ship stabilizing is finally realized. The method specifically comprises the following steps:
S1: determining the ship heading of the leveling ship:
As shown in fig. 2, an installation coordinate system is established, with the starboard at the stern as the origin of coordinates, the direction of the bow pointing in the forward direction is the x-axis forward direction, the direction of the starboard pointing in the forward direction is the y-axis forward direction, and the installation coordinates of a first GPS system (GPS 1 in fig. 2) positioned at the stern and a second GPS system (GPS 2 in fig. 2) positioned at the bow of the leveling vessel under the installation coordinate system are determined, in this embodiment, the first GPS systems respectively
Second GPS system
Real-time engineering coordinates of a first GPS systemReal-time engineering coordinates/>, for the second GPS system, for the measurements of the first GPS systemAs a measurement value of the second GPS system,
The leveling ship takes the first GPS system as a rotation center and rotates anticlockwise by an angle，/>Namely, the heading angle, according to the trigonometric function method and the linear slope method, at/>Respectively calculating heading angles/>, in the first quadrant, the second quadrant, the third quadrant and the fourth quadrant, of the leveling ship under the installation coordinate system; The method comprises the following steps:
when the planing boat is rotated around the first GPS system as rotation center, as shown in figure 4, the planing boat rotates anticlockwise within the first quadrant range of the installation coordinate system Θ1 is the angle between the straight line and the x axis formed by the GPS1 and the GPS2, θ2 is the angle between the straight line and the x axis formed by the GPS1 'and the GPS2', and the heading angle/>, at the moment, is calculated by using a straight line slope methodThe method comprises the following steps:
；
calculating the heading angle by using trigonometric function method Obtaining:
；
in the first quadrant, the heading angle is:
（4）
When the leveling ship rotates anticlockwise within the second quadrant range of the installation coordinate system by taking the first GPS system as the rotation center As shown in FIG. 5, the heading angle/>, at this time was calculated by a straight line slope methodThe method comprises the following steps:
calculating the heading angle by using trigonometric function method Obtaining:
；
In the second quadrant, the heading angle is:
（5）
when the leveling ship rotates anticlockwise within the third quadrant range of the installation coordinate system by taking the first GPS system as the rotation center As shown in FIG. 6, the heading angle/>, at this time was calculated by a straight line slope methodThe method comprises the following steps:
calculating the heading angle by using trigonometric function method Obtaining:
In the third quadrant, the heading angle is:
（6）
When the leveling ship rotates anticlockwise within the fourth quadrant range of the installation coordinate system by taking the first GPS system as the rotation center As shown in FIG. 7, the heading angle/>, at this time was calculated by a straight line slope methodThe method comprises the following steps:
calculating the heading angle by using trigonometric function method Obtaining:
；
In the fourth quadrant, the heading angle is
（7）
In the above calculation of the heading angle in the first quadrant, the second quadrant, the third quadrant and the fourth quadrant,、/>Refer to engineering coordinates of the initial point,/>、/>Refers to engineering coordinates of the target point.
If it isAnd/>Then there is/>；
If it isAnd/>Then there is/>；
Determining the ship heading of the leveling ship;
S2, calculating the sine and cosine of the heading angle:
according to the heading angles in the four quadrants of the installation coordinate system calculated in the step S1 Calculating a sineCosine/>The sine and cosine values under the four conditions are calculated to be identical:
Sine of heading angle The method comprises the following steps:
；
Residual chord of heading angle The method comprises the following steps:
；
S3, calculating the engineering coordinate variation of the cable outlet point of the leveling ship after moving ：
The cable outlet point is the point where 6 anchor machines on the ship are located. Acquiring the installation coordinates of 6 cable outlet points on the leveling ship under the installation coordinate system according to the CAD drawingThe method comprises the following steps of:
the coordinates of the first GPS system at the initial point are assumed to be Calculating the heading angle at the initial pointAt the time, engineering coordinates/>, of each cable outlet pointThe method comprises the following steps:
As shown in FIG. 3, after the ship is moved, the coordinates of the first GPS system are as follows Calculating a heading angleWhen the current cable outlet point is in engineering coordinates/>Is that
Engineering coordinate variation of cable outlet pointThe formula is:
in this embodiment, the engineering coordinate variation of each cable outlet point is:
s4, calculating the rope length of the mooring rope after ship moving ：
The rope length of the mooring rope after the ship is moved refers to the length which the mooring rope at the target point should reach, and is a function of GPS coordinates, anchor point coordinates, heading angle sine and cosine and sea water depth; in this embodiment, according to the anchor coordinatesEngineering coordinates of the current cable outlet point/>And the sea water depth h, calculating the rope length/>, of the cableThe method comprises the following steps:
Substituting the coordinates of the cable outlet points to obtain the length square of the cable is as follows:
s5, calculating a cable outlet angle of the cable outlet point after ship moving ：
The cable outlet angle refers to an included angle formed by projection of a cable on the sea level and the boundary of the ship bow or the ship stern, and is a function of the starting point rope length, the target point rope length and the coordinate variation of the cable outlet point; measuring rope length of each cable outlet point of leveling ship at initial position by using sensorRope length after ship moving obtained in step S4/>And the engineering coordinate variation of the cable outlet point obtained in the step S3Dividing the cable outlet points into four quadrants with 0 to +.infinity as a radius by taking the cable outlet points as circle centers, and calculating cable outlet angles/>, of the cable outlet points；
The first quadrant is taken as an example for calculation, and the other quadrants are the same.
The first step:
Firstly, calculating the cable outlet angles of 6 cable outlet points as
As shown in fig. 8, the cable outlet angle of the cable outlet point 1：
①At/>Above the extension line
②At/>Under the extension line
③And/>Extension line superposition
As shown in fig. 9, the cable outlet angle of the cable outlet point 2：
The formula is the same as the cable outlet point 3 for the acute angle; /(I)At right angles,/>；/>The obtuse angle is given by the formula and the outgoing line point 1.
As shown in fig. 10, the cable outlet angle of the cable outlet point 3：
Whether or not(The angle is the triangle side/>Corresponding angles) are acute angles, right angles and obtuse angles, and the formulas are consistent.
As shown in fig. 11, the cable outlet angle of the cable outlet point 4：
Whether or not(The angle is the triangle side/>Corresponding angles) are acute angles, right angles and obtuse angles, and the formulas are consistent.
/>
As shown in fig. 12, the cable outlet angle of the cable outlet point 5：
The formula is the same as the cable outlet point 6 for the acute angle; /(I)At right angles,/>；/>The obtuse angle is given by the formula and the outgoing line point 4.
As shown in fig. 13, the cable outlet angle of the cable outlet point 6：
①At/>Above the extension line, as shown in fig. 13 (1);
② At/> Under the extension line, as shown in fig. 13 (2);
③ and/> Extension line superposition
And a second step of:
Calculating sine and cosine of 6 cable outlet angles of 6 cable outlet points as
Cable outlet angle of cable outlet point 1：
①At/>Above the extension line
②At/>Under the extension line
③And/>Extension line superposition
Cable outlet angle of cable outlet point 2：
The formula is the same as the cable outlet point 3 for the acute angle; /(I)At right angles,/>；/>The obtuse angle is given by the formula and the outgoing line point 1.
Cable outlet angle of cable outlet point 3：
Whether or not(The angle is the triangle side/>Corresponding angles) are acute angles, right angles and obtuse angles, and the formulas are consistent. /(I)
Cable outlet angle of cable outlet point 4：
Whether or not(The angle is the triangle side/>Corresponding angles) are acute angles, right angles and obtuse angles, and the formulas are consistent.
Cable outlet angle of cable outlet point 5：
The formula is the same as the cable outlet point 6 for the acute angle; /(I)At right angles,/>；/>The obtuse angle is given by the formula and the outgoing line point 4.
Cable outlet angle of cable outlet point 6：
①At/>Above the extension line
②At/>Under the extension line
③And/>Extension line superposition
S6, calculating the split tension of the cable:
According to the length of the cable at the initial point And the sea water depth h to calculate the cable vertical angle/>The cable vertical angle refers to an angle formed by projection of the cable and the cable at sea level, as shown in fig. 14, and cosine of the cable vertical angles of 6 cables in this embodiment are respectively:
/>
the tension of the cable is the component force value of the resultant force applied to the hull in the x-axis and y-axis directions, and as shown in fig. 15, the tension value of each cable, the cosine of the cable angle and the sine and cosine of the cable outlet angle are functions, which are as follows:
s7, calculating resultant force and resultant moment of the ship body during ship stabilizing:
because the system is in a static equilibrium state during ship stabilizing, the resultant force of the system And resultant moment/>All are 0, namely:
Wherein, F x is the component force of the system in the x direction, F y is the component force of the system in the y direction, and F Z is the component force of the system in the z direction; m x is the component moment of the system in the x direction, M y is the component moment of the system in the y direction, and M z is the component moment of the system in the z direction; moment of inertia representing force in x-axis direction,/> Moment of inertia representing force in y-axis direction,/>A moment of inertia representing a force in the z-axis direction, i.e., a position vector from an application point of the force to a coordinate axis on which the force is located; /(I)Influence the motion state of the ship body along the directions of the x axis, the y axis and the z axis,/>Affecting roll, pitch, yaw motions of the hull about the x-axis, y-axis, and z-axis, i.e., motions of the hull in six degrees of freedom. /(I)
Because the leveling ship moves on the sea level, the anchoring positioning system is used for positioning in the x and y coordinate directions of the sea level, the fluctuation motion on the z axis is not considered, the rolling and pitching of the ship body are controlled by the leveling system, and the rolling is controlled by the cable winding and unwinding; therefore, only the resultant force of the x axis and the y axis is considered, the resultant force of the x axis and the y axis refers to the value obtained by adding and subtracting the component force values of the resultant force born by the ship body in the directions of the x axis and the y axis together, and the resultant force is a function of the component tension; in the present embodiment of the present invention,
Calculating the resultant force value of the ship body:
Because the resultant force applied to the hull in the ship stabilizing stage is zero, ；
ThenAnd/>And/>(This example does not consider/>) The resultant force applied to the ship body means that the forces in the directions of the x axis and the y axis are combined into resultant force values, so that the magnitude and the direction of the resultant force applied to the ship body can be known, and the resultant force is a function of the resultant force in the directions of the x axis and the y axis;
Substituting the rope tension formula in the step S6 to obtain:
Obtaining ；
Will/>, as the ideal tension of the cableAnd after the actual measurement pulling force of the tension sensor of each mooring rope is compared with the actual measurement pulling force of each mooring rope, the anchoring machine is controlled to reel and unreel the mooring rope so as to realize ship stabilization.
According to the technical scheme, a resultant force model of the anchoring positioning system is calculated according to the Newton's second law, forces are decomposed to an x axis and a y axis according to the Newton's second law to be calculated respectively, all indexes in the ship body motion process are collected, the tension of all cables is changed by controlling the forward rotation and the reverse rotation of an anchor machine to enable the actually measured tension value to reach an ideal tension value in the resultant force model, the resultant force of the tension on the sea level is enabled to be zero, and finally the ship stabilizing is achieved.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (8)
1. The control method for the cable reeling and unreeling in the ship stabilizing process of full-floating leveling is characterized by comprising the following steps of:
s1, determining the ship heading of the leveling ship:
establishing an installation coordinate system, taking a stern starboard as a coordinate origin, determining installation coordinates of a first GPS system positioned at the stern and a second GPS system positioned at the bow of the leveling ship under the installation coordinate system, wherein the installation coordinates are respectively the first GPS system Second GPS System/>；
The real-time engineering coordinates of the first GPS system are as followsThe real-time engineering coordinates of the second GPS system are/>，
The leveling ship takes the first GPS system as a rotation center and rotates anticlockwise by an angle，/>Namely, the heading angle is calculated according to a trigonometric function method and a linear slope method, and the heading angle/>, in the range of a first quadrant, a second quadrant, a third quadrant and a fourth quadrant, of the leveling ship under the installation coordinate system is calculated respectivelyDetermining the ship heading of the leveling ship;
S2, calculating the sine and cosine of the heading angle:
according to the heading angles calculated in the step S1 Calculate sine/>Cosine/>；
S3, calculating the engineering coordinate variation of the cable outlet point of the leveling ship after moving：
Acquiring installation coordinates of each cable outlet point on the leveling ship under an installation coordinate system；
The coordinates of the first GPS system at the initial point are assumed to beCalculating the heading angle at the initial pointAt the time, engineering coordinates/>, of each cable outlet pointThe method comprises the following steps:
after the ship is moved, the coordinates of the first GPS system are as follows Calculating a heading angleWhen the current cable outlet point is in engineering coordinates/>Is that
；
Engineering coordinate variation of cable outlet pointThe formula is:
s4, calculating the rope length of the mooring rope after ship moving ：
According to anchor coordinatesEngineering coordinates of the current cable outlet point/>And the sea water depth h, calculating the rope length/>, of the cableThe method comprises the following steps:
s5, calculating a cable outlet angle of the cable outlet point after ship moving ：
The cable outlet angle refers to an included angle formed by projection of a cable on the sea level and the boundary of the bow or the stern, and a sensor is used for measuring the length of each cable outlet point of the leveling ship at the initial positionRope length after ship moving obtained in step S4/>And engineering coordinate variation amount/>, of the cable exit point obtained in step S3Calculating the cable outlet angle/>, of each cable outlet point；
S6, calculating the split tension of the cable:
According to the length of the cable at the initial point And the sea water depth h to calculate the cable vertical angle/>The cable vertical angle refers to an included angle formed by projection of the cable and the cable at the sea level, is a function of the length of the cable and the depth of the sea, and has the cosine:
the tension of the cable is the component force value of the resultant force born by the ship body in the directions of the x axis and the y axis, is a function of the tension value of each cable, the cosine of the vertical angle of the cable and the sine and cosine of the angle of the outgoing cable, and is as follows:
s7, calculating resultant force and resultant moment of the ship body during ship stabilizing:
because the system is in a static equilibrium state during ship stabilizing, the resultant force of the system And resultant moment/>All are 0, namely:
Wherein, F x is the component force of the system in the x direction, F y is the component force of the system in the y direction, and F Z is the component force of the system in the z direction; m x is the component moment of the system in the x direction, M y is the component moment of the system in the y direction, and M z is the component moment of the system in the z direction; moment of inertia representing force in x-axis direction,/> Moment of inertia representing force in y-axis direction,/>A moment of inertia representing a force in the z-axis direction, i.e., a position vector from an application point of the force to a coordinate axis on which the force is located; /(I)Influence the motion state of the ship body along the directions of the x axis, the y axis and the z axis,/>The roll, pitch and yaw movements of the ship body around the x axis, the y axis and the z axis are affected, namely the movement of the ship body in six degrees of freedom;
calculating the resultant force value of the ship body:
Because the resultant force applied to the hull in the ship stabilizing stage is zero, ；
ThenAnd/>And/>；
Substituting the rope tension formula in the step S6 to obtain:
Obtaining ；/>Will/>, as the ideal tension of the cableAnd after the actual measurement pulling force of the tension sensor of each mooring rope is compared with the actual measurement pulling force of each mooring rope, the anchoring machine is controlled to reel and unreel the mooring rope so as to realize ship stabilization.
2. The method for controlling cable reeling and unreeling during stabilizing a ship for full-floating leveling as claimed in claim 1, wherein in step S1, when the leveling ship rotates counterclockwise within a first quadrant range of the installation coordinate system with the first GPS system as a rotation centerCalculating the heading angle/>The method comprises the following steps:
。
3. the method for controlling cable reeling and unreeling during stabilizing a ship for full-floating leveling as claimed in claim 1, wherein in step S1, when the leveling ship rotates counterclockwise within a second quadrant range of the installation coordinate system with the first GPS system as a rotation center Calculating the heading angle/>The method comprises the following steps:
。
4. The method for controlling cable reeling and unreeling during stabilizing a ship for full-floating leveling as claimed in claim 1, wherein in step S1, when the leveling ship rotates counterclockwise within a third quadrant range of the installation coordinate system with the first GPS system as a rotation center Calculating the heading angle/>The method comprises the following steps:
。
5. The method for controlling cable reeling and unreeling during stabilizing a ship for full-floating leveling as claimed in claim 1, wherein in step S1, when the leveling ship rotates counterclockwise within a fourth quadrant range of the installation coordinate system with the first GPS system as a rotation center Calculating the heading angle/>The method comprises the following steps:
。
6. the method for controlling cable reeling and unreeling in a stabilizing course of a full-floating leveling ship according to any one of claims 2 to 5, wherein in step S2, the method is characterized in that the method comprises the following steps according to the heading angles in four quadrants under an installation coordinate system Obtaining the sine/>, of the heading angleThe method comprises the following steps:
；
Residual chord of heading angle The method comprises the following steps:
。
7. The method for controlling cable reeling and unreeling in the process of stabilizing a ship with full floating leveling as set forth in claim 1, wherein step S5 obtains the cable outlet angle of the cable outlet point after the ship is moved After that, the sine/>, of the cable angle is calculatedCosine/>。
8. The method for controlling the reeling and unreeling of the stabilizing course of the full-floating leveling according to claim 1, wherein three cables are symmetrically distributed at two ends of the leveling vessel respectively so as to balance the stress of the leveling vessel.
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