CN1776555A - Ship Dynamic Positioning Control Method Based on Fuzzy Adaptive Algorithm - Google Patents
Ship Dynamic Positioning Control Method Based on Fuzzy Adaptive Algorithm Download PDFInfo
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Abstract
The invention includes steps: (1) using position finding system to measure position information of ship; (2) using A/D convertor converts position information obtained from step (1) to digital signal; digital signal passes filter, and the part of frequency less than frequency of waves is transferred to controller; (3) blur adaptive algorithm contained in controller fuzzifies received precise information; (4) control force signal generated by controller passing through D/A converter obtains analog signal, which is enhanced by amplifier and output to actuator; (5) actuator carries out execution according to instruction, and ship is moved to appointed position. The invention better counteracts effect on ship hull by coming environmental force (including wind, wave and stream etc. forces) in feedforward. Thus, ship is able to reach appointed position under minimal error and impulsion. Advantages are: lowering energy consumption, and increasing dynamic positioning precision.
Description
Technical field
What the present invention relates to is a kind of control method of Marine engineering technical field, specifically, is a kind of marine power positioning control method based on fuzzy adaptive algorithm.
Background technology
Present ship power-positioning control system generally is made up of controller, potentiometric amplifier, wave filter, location probe and topworks, the control method that adopts in controller has the whole bag of tricks, be example wherein with " ratio one integration one differential " method, it is the PID method, the ship original position of after the effect that is subjected to environmental forcess such as wind, wave, stream, must drifting about, play FEEDBACK CONTROL effect by the PID system this moment, ship is resetted, and the hundreds of thousands ton often relies on power to move about to millions of tons ship must wasteful energy.In addition, the requirement of marine dynamically positioning precision is also different with task, during pipelaying barge operation at sea, often to navigate to 1～2 meter precision, marine drilling vessel or mining dredger are then often different with the depth of water, only need to navigate to 3～5% of the depth of water, a promptly same ship has different positioning accuracy requests when carrying out different task, and the PID system then is difficult to the requirement of the different bearing accuracies of self-adaptation.
Find through literature search prior art, Chinese patent publication number: CN1121607A, patent name: the nerve network control system of dynamic positioning of vessels and method thereof, this patent has been described a kind of nerve network control system and method thereof of dynamic positioning of vessels, but what this system neural network data training was adopted is a kind of what is called " guiding simulated annealing method ", its dynamic localization method is to give learner by location system with information after filtering, select control signal is defeated by topworks through optimum decision again, make ship with least error with impact near assigned address.This method optimizing efficient is not high, is absorbed in locally optimal solution easily, thereby can not realizes optimum control.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of marine power positioning control method based on fuzzy adaptive algorithm is provided, its loading that can be adaptive to ship is changed and the sea situation variation, can improve the dynamically positioning precision, reduce the dynamically positioning of location energy consumption greatly.
The present invention is achieved by the following technical solutions, the present invention includes following steps:
(1) utilize location system to measure vessel's position information;
(2) convert the positional information that step (1) obtains to digital signal by analog/digital converter, after digital signal adopted nothing to differ filtering elimination radio-frequency component through wave filter again, the part that will be lower than wave frequencies flowed to controller;
(3) the precise information obfuscation of the fuzzy adaptive algorithm that comprises in the controller to accepting, obtain the fuzzy value of input quantity, fuzzy value according to input quantity, press fuzzy control rule and adaptive control and regulate parameter, by the fuzzy value of fuzzy reasoning calculation control amount, calculate by ambiguity solution at last and obtain accurate controlled quentity controlled variable;
(4) the control signal that controller produced produces simulating signal and export to topworks after signal amplifier strengthens through digital/analog converter;
(5) topworks carries out by instruction, and ship is moved to assigned address.
Described vessel's position information comprises surging, swaying, the yawing of ship.
Described location system is global positioning system or acoustic positioning system.
Described fuzzy adaptive algorithm is meant the fuzzy control with adaptive algorithm.
Described fuzzy control is to be constituted and can directly be utilized these language messages in control by the fuzzy control rule that language message is described.
Described adaptive algorithm then is to rely on the data message of gained in the control procedure to adjust the parameter of fuzzy control rule to reach best.
Described fuzzy control rule is meant a series of if-then (IF-THEN) language rule according to existing experience and technical know-how structure.
Described fuzzy reasoning is meant according to selected inference method, draws the output value from input quantity and control law reasoning.
Described ambiguity solution calculating is meant from the fuzzy value of output controlled quentity controlled variable finds out the accurate amount that can represent the fuzzy control effect to distribute.
Principle of work of the present invention is: core of the present invention is based on the design of the controller of fuzzy adaptive algorithm.Fuzzy adaptive controller is a fuzzy controller and the combining of adaptive algorithm.
Fuzzy controller is an input variable with error e and error change rate :
e＝y-y
r
＝de/dt
y
rThe expression desired output
Fuzzy controller is classified the fuzzy value of input quantity; For the rule that each bar data produces is given a degree of confidence; Use previous logic rules as a result; Decide output quantity according to the rule and the degree of confidence thereof that produce, last, output valve u is eliminated fuzzy.
At first, suppose three numerical variables of fuzzy set of giving language description, consider the variation range of numerical variable, then fuzzy set can be as giving a definition:
e and u：{LN，MN，SN，ZE，SP，MP，LP}
：{LN，MN，SN，NZ，PZ，SP，MP，LP}
LN=is negative big, and during MN=was negative, SN=was negative little, and ZE=zero, the NZ=negative zero, and the PZ=positive zero, SP=is just little, the MP=center, LP=is honest, so error e and output quantity u have seven fringes, and error rate has eight.
Then, fuzzy controller gives a degree of confidence in fuzzy set each variable.The degree of confidence function of each fuzzy set all is to be the center with the zero point, and positive and negative both sides are symmetrical distribution.The degree of confidence function curve of each variable is single crest shape of symmetry.The degree of confidence that locate positive zero point is than other each point all little (this makes system locate to reach refined control on schedule).
Fuzzy controller connects fuzzy input set and output collection by fuzzy control rule (FAM), fuzzy control rule adopts the if-then statement, for example import certain variable (being included among the fuzzy word set of input), will concentrate certain variables corresponding of input from the output fuzzy word, rule is as shown in the table:
| u | e | |||||||
| LP | MP | SP | ZE | SN | MN | LN | ||
| | LP | BN | BN | BN | MN | MN | SN | SN |
| MP | LN | LN | LN | MN | SN | SN | SN | |
| PS | NM | NM | NM | NS | O | PS | PS | |
| PZ | MN | MN | SN | ZE | SP | MP | MP | |
| NZ | MN | MN | SN | ZE | SP | MP | MP | |
| SN | SN | SN | ZE | SP | MP | MP | MP | |
| MN | ZE | SP | MP | MP | LP | LP | LP | |
| LN | ZE | SP | MP | MP | LP | LP | LP | |
Consider power complicated and changeable and moment that hull is outside suffered, introduce adaptive control and improve the performance of fuzzy control.Under different marine environment conditions, the external disturbance power that boats and ships are changed departs from vessel position.Under manual control, can adjust the value of thruster according to side-play amount, make it return to original position.Simulation is control manually, and adaptive control is adjusted output valve by the tuning control law value that goes up in the table.According to fuzzy input set, the self-adaptive controlled output valve collection that is shaped on a corresponding fuzzy controller adaptive control and fuzzy control combination, constitutes the fuzzy adaptive controller of dynamic positioning system.
The present invention preferably feedforward cancellation environmental forces on the horizon (containing power such as wind, wave, stream) to the effect of hull, can with the error of minimum with impact near assigned address, cut down the consumption of energy greatly; Loading variation, job change and the sea situation that can be adaptive to ship change, so can improve the dynamically positioning precision.
Description of drawings
Fig. 1 is the vessel position curve map of no given bias
Fig. 2 is the vessel position curve map of given x deviation in driction amount
Fig. 3 is the vessel position curve map of given y deviation in driction amount
Fig. 4 is the vessel position curve map of given angle bias
Fig. 5 is given x, and y direction and bow are to the vessel position curve map of angle bias
Embodiment
The location system of present embodiment adopts far infrared non-contact six-freedom position measuring system, and wave filter adopts the Kalman wave filter, and industrial computer includes the fuzzy self-adaption Control Software, and topworks adopts the full circle swinging thruster.
Present embodiment comprises following 5 steps:
(1) measures the absolute position of current ship by far infrared non-contact six-freedom position measuring system, comprise surging, swaying and yawing;
(2) positional information is imported into industrial computer by special watertight signal wire.The position signalling of computer control analog/digital converter timing acquiring ship, the sampling period is between 1～10 second.Position signalling is given wave filter, eliminates radio-frequency component, and only keeps the low frequency part that it is lower than wave frequencies;
(3) pre-set a relative coordinate system before the positioning control, getting anchor point is true origin, and the X--Y coordinate surface is the sea level, the Z axle vertically upward, the X-axis forward points to bow along stern, the vertical X-axis of Y-axis.By coordinate conversion the absolute coordinates position of ship is transformed into the position that relative coordinate is fastened.As input quantity, the position of the ship of current time is as output quantity with the position of going through in the past of ship and controlled quentity controlled variable, and it is right to form one group of I/O data, adopts the drift kinetics relation of controller prediction ship under the control effect.Foundation is the relation between the position of the position of the controlled quentity controlled variable of course and ship and next ship constantly for the previous period, predicts next position that may arrive at of ship constantly; Conversely, as specify next positioning requirements position constantly, the anti-current time of releasing should adopt great control.Above-mentioned process is carried out continuously;
(4) control signal that controller is produced is converted to the controlled quentity controlled variable of all-direction propeller, and required controlled quentity controlled variable has T
1, T
2, θ
1, θ
2, set θ
1=θ
2=θ then has:
Wherein:
For control is made a concerted effort, is the angle, ship's head.With the T that calculates
1, T
2, θ produces analog control signal by digital/analog converter, and affacts the full circle swinging thruster through signal amplifier;
(5) the full circle swinging thruster is carried out by instruction, and ship is moved to assigned address.
Boats and ships to embodiment carry out simulated experiment in given marine environment condition at last, and the environmental baseline of simulation is the stormy waves in 50m depth of water sea, the South Sea last ten year of a chance.The assigned address of setting the boats and ships recurrence is an origin position, and boats and ships are when origin position, and the coordinate figure of x and y direction is zero, and bow also is zero to the angle value.The positioning accuracy request of boats and ships can convert by scaling factor, and the location positioning precision that requires in experiment is about 16cm.
For investigating the ability that control system control boats and ships keep balance in position, allow the long-time free-floating of boats and ships on the water surface, only changed gentle external environment power effect, observation vessel's position and bow change to the angle.The time dependent curve of vessel position made in DATA REASONING record according to vessel position, as shown in Figure 1,30,000 groups of position data record values in 10 minutes time period have been comprised among the figure, every group record value comprise the coordinate figure of x and y direction and bow to the angle value (for ease of mapping, bow is used to angular curve to be that 10 times of bows are worth to the angle), thus vessel position Changing Pattern under the control system effect can fully be reflected.As seen from Figure 1, under external environment effects such as stormy waves, in the bearing accuracy scope as requested, the station-keeping ability of boats and ships is good, and vessel position is near the internal vibration among a small circle initial point always, keeps mobile equilibrium.
Boats and ships can produce very big side-play amount under suddenly strong external force effect, also will investigate the ability that control system is kept in the center at big deviation post place control boats and ships.Be the big skew that the simulation boats and ships produce suddenly, set a big side-play amount of boats and ships, the people arrives this assigned address for forcing it in experiment.Equally, can make vessel position change curve in time according to the survey record value of position.When the position quantity of a deviation from origin of artificial given boats and ships, be reflected in the unexpected jump that is curve positional value (x direction value, y direction value or bow are worth to the angle) on this time point on the position curve.Fig. 2 is the position curve figure when making the boats and ships deviation from origin apart from 24cm on the x direction, and as shown in Figure 2, boats and ships approximately need 10 second time near deviation post returns initial point; Fig. 3 is the position curve figure of given boats and ships bias 18cm on the y direction, and as shown in Figure 3, the recurrence initial point time is approximately 10 seconds; Fig. 4 is the position curve figure of given bow to about 1.8 radians of angle bias, and as shown in Figure 4, the recurrence initial point time is approximately 30 seconds; Fig. 5 is to angular direction position curve figure of given bias at x direction, y direction and bow, as shown in Figure 5, deviation value on three directions is respectively 18cm, 14cm and 1.7 radians, and boats and ships return initial point on three directions time was respectively 10 seconds, 10 seconds and 25 seconds.In sum, shown in Fig. 2,3,4,5, boats and ships can accurately revert to the initial point place at short notice at the deviation post place, bow also can make zero fast to the angle, and very little in the regression process of boats and ships on a certain direction to the influence of the position balance on other directions, shown good recurrence performance.
Present embodiment has illustrated control system of the present invention as feedforward control, can offset the interference of external force such as wave well, reaches high precision, the low energy consumption of location.When situations such as the loading of boats and ships or sea situation changed, ship's fix had good performance equally, illustrate that control system can be adaptive to the loading variation of ship, job change and sea situation and change, raising dynamically positioning precision.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101311866B (en) * | 2007-05-21 | 2010-04-14 | 上海宝信软件股份有限公司 | Continuous output positioning control method |
| CN101442835B (en) * | 2008-12-19 | 2010-06-09 | 无锡矽鼎科技有限公司 | Method for optimizing mobile internet terminal based on fuzzy controller |
| CN101920762A (en) * | 2009-06-09 | 2010-12-22 | 同济大学 | A ship dynamic positioning method based on real-time correction of noise matrix |
| CN102269806A (en) * | 2011-05-05 | 2011-12-07 | 哈尔滨工程大学 | Measurement method of relative position of two ships based on laser range finder |
| CN102811903A (en) * | 2010-03-31 | 2012-12-05 | 三井造船株式会社 | Ship main engine control system and method |
| CN104155043A (en) * | 2014-08-07 | 2014-11-19 | 上海交通大学 | Method for measuring external environmental force of power positioning system |
| CN106054884A (en) * | 2016-06-16 | 2016-10-26 | 哈尔滨工程大学 | L1 adaptive ship power positioning double-loop control system based on neural network |
| CN107561940A (en) * | 2017-09-01 | 2018-01-09 | 哈尔滨理工大学 | A kind of dynamic positioning ship control method based on T S fuzzy systems |
| CN111427269A (en) * | 2020-04-29 | 2020-07-17 | 上海交通大学 | Dynamic positioning model test control method based on fuzzy PID control |
-
2005
- 2005-12-08 CN CN 200510111224 patent/CN1776555A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101311866B (en) * | 2007-05-21 | 2010-04-14 | 上海宝信软件股份有限公司 | Continuous output positioning control method |
| CN101442835B (en) * | 2008-12-19 | 2010-06-09 | 无锡矽鼎科技有限公司 | Method for optimizing mobile internet terminal based on fuzzy controller |
| CN101920762A (en) * | 2009-06-09 | 2010-12-22 | 同济大学 | A ship dynamic positioning method based on real-time correction of noise matrix |
| CN101920762B (en) * | 2009-06-09 | 2013-04-17 | 同济大学 | Ship dynamic positioning method based on real-time correction of noise matrix |
| CN102811903A (en) * | 2010-03-31 | 2012-12-05 | 三井造船株式会社 | Ship main engine control system and method |
| CN102269806A (en) * | 2011-05-05 | 2011-12-07 | 哈尔滨工程大学 | Measurement method of relative position of two ships based on laser range finder |
| CN102269806B (en) * | 2011-05-05 | 2012-10-31 | 哈尔滨工程大学 | Measurement method of relative position of two ships based on laser range finder |
| CN104155043A (en) * | 2014-08-07 | 2014-11-19 | 上海交通大学 | Method for measuring external environmental force of power positioning system |
| CN104155043B (en) * | 2014-08-07 | 2016-08-24 | 上海交通大学 | A kind of dynamic positioning system external environment force measuring method |
| CN106054884A (en) * | 2016-06-16 | 2016-10-26 | 哈尔滨工程大学 | L1 adaptive ship power positioning double-loop control system based on neural network |
| CN106054884B (en) * | 2016-06-16 | 2018-12-07 | 哈尔滨工程大学 | L1 self-adaptive ship dynamic positioning Double Loop Control System neural network based |
| CN107561940A (en) * | 2017-09-01 | 2018-01-09 | 哈尔滨理工大学 | A kind of dynamic positioning ship control method based on T S fuzzy systems |
| CN111427269A (en) * | 2020-04-29 | 2020-07-17 | 上海交通大学 | Dynamic positioning model test control method based on fuzzy PID control |
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