WO2024046090A1

WO2024046090A1 - Modular ship motion control debugging system and ship motion control debugging method

Info

Publication number: WO2024046090A1
Application number: PCT/CN2023/112520
Authority: WO
Inventors: 夏天; 刘序辰; 王波; 陶江平; 尤德武; 谢新; 蒋荣勤; 史艳龙; 郭彦军; 谢宇; 周谊; 刘晗; 许威; 焉诗萌; 梁伟; 沈璐璐
Original assignee: 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所)
Priority date: 2022-08-31
Filing date: 2023-08-11
Publication date: 2024-03-07
Also published as: CN115629590A

Abstract

A modular ship motion control debugging system and a ship motion control debugging method. The ship motion control debugging system comprises a motion control unit (1), a motion simulation unit (2) and a debugging interface (3). Secondary development and debugging requirements of normal-speed and low-speed ship motion control may be met. Motion change trends when control parameters change may be compared and analyzed, thereby guiding the direction of debugging and improving debugging efficiency. A modular design is used, allowing the system to configure different ship motion types and control types and be applicable to secondary development of motion control on different ships. The debugging interface (3) may issue a desired pose to the motion control unit, may also set control parameters of the motion control unit, and may further perform graphical display to enable visualization of debugging information, facilitating insight into motion trends and influence patterns caused by parameter changes, guiding debugging concepts, avoiding invalid tests during a debugging process, reducing feelings of boredom and disorder during the debugging process, and improving the debugging experience and efficiency.

Description

Modular ship motion control debugging system and ship motion control debugging method

Technical field

The invention relates to the field of ship motion control, specifically a modular ship motion control debugging system and a ship motion control debugging method suitable for laboratory simulation.

Background technique

When a ship sails or operates in the sea, its motion characteristics are highly nonlinear and the ocean environment is complex and changeable. Therefore, when controlling its motion, it is necessary to establish corresponding mathematical models of ship motion for different ships and motion types. , design the corresponding motion control method. When a ship moves in the horizontal plane, its motions in three degrees of freedom are coupled to each other. Therefore, the motion trends of each degree of freedom when the control parameters change are not easy to observe, and the debugging rules are not easy to obtain. Repeated trials and debugging are required, resulting in a complicated and disorderly debugging process of control parameters and low debugging efficiency. In addition, sea trials and debugging of real ships are time-consuming, expensive, and have few opportunities. Therefore, sufficient simulation trials and debugging must be carried out in advance.

Contents of the invention

In view of the above problems, the present invention provides a modular ship motion control simulation debugging system and ship motion control debugging method, which can meet the secondary development and debugging needs of normal speed and low speed ship motion control, and can compare and analyze changes in control parameters. The movement change trend guides the debugging direction and improves debugging efficiency.

The ship motion control debugging system includes a motion control unit, a motion simulation unit and a debugging interface;

The motion control unit includes multiple modules for simulating the motion control mode of the ship. The motion control mode of the ship includes under-actuation control of normal-speed ships, dynamic positioning control of low-speed ships, or optionally added editable motion control. algorithm;

The motion simulation unit includes a plurality of modules for simulating the motion state of ships with various main scales and propeller and rudder configurations;

The debugging interface is used to display the motion state change curves and phase trajectories of the multiple simulated ships through drawings, and adjust parameters of the motion control unit and/or each module of the motion simulation unit by comparing the multiple simulation results.

Further, before performing the simulation, it is necessary to configure the parameters of each module of the motion control unit and the motion simulation unit. After the configuration is completed, the simulation is performed, and the configuration parameters are saved in the configuration file.

Further, the motion control unit includes a measurement module, an estimation module and a control module;

The measurement module is used to simulate a compass to obtain a position reference system, analyze and process the data on ship motion status, propeller operating status and marine environment status transmitted by the motion simulation unit, and then transmit it to the estimation module;

The estimation module is used to process the data transmitted from the measurement module to calculate the motion state of the ship; the estimation module includes a true value mode and a filtering mode that can be optionally set; the estimation module defaults to the true value mode , directly using the measured values to calculate the motion state of the ship; the filtering mode includes optionally set median filtering, Alpha-Beta filtering Wave, EKF filtering, passive observer, the filtering mode is used to filter and estimate the data transmitted from the measurement module through the filter and estimator to obtain smooth data;

The control module is used to configure the motion control type of the ship and its control methods and parameters; the motion control type of the ship includes normal speed control and low speed control; the normal speed control uses the rudder angle as the control variable, and the default is PID control , and the control parameters can be adjusted, and the control method can be customized to be added or edited; the low-speed control uses the generalized control force of three degrees of freedom as the control variable, and the default is PID control, the control parameters can be adjusted, and the control method can be customized to be added or edited. ; The control module calculates the control instructions based on the ship motion state calculated by the estimation module and the selected ship motion control type and its control method and parameters, and transmits it to the ship motion simulation unit.

Further, the motion control unit also includes a feedforward module;

The feedforward module is used to compensate for environmental interference data; the feedforward module includes no feedforward mode and wind feedforward mode. The default is no feedforward mode, and the wind feedforward mode can be optionally set.

Further, the ship motion simulation unit includes a command module, a propeller and rudder module, an environment module, and a hull module;

The command module can optionally set the control force command mode and the propeller rudder command mode; the control force command mode is to receive a three-degree-of-freedom generalized control force command from the ship motion control unit and transmit it to the propeller rudder module; the propeller rudder module The command mode is to receive each propeller rudder command from the ship motion control unit and transmit it to the propeller rudder module;

The propeller rudder module includes an optional abstract propeller rudder module and a simulated propeller rudder module; the abstract propeller rudder module simulates the dynamic characteristics of the generalized control force, updates the generalized control force according to the generalized control force instructions, and transmits it to the hull module; The simulated propeller rudder module simulates the dynamic characteristics of each propeller rudder, configures the type, scale, and position of each propeller rudder, updates the propeller rudder status according to the propeller rudder instructions, and calculates the resultant force of each propeller rudder as a generalized control force based on the propeller rudder model. transmitted to the hull module;

The hull module includes a normal speed module and a low speed module that can be optionally set, and are used for motion simulation of normal speed ships or for motion simulation of low speed ships. Ship mathematical model modules suitable for different environments can be selected or added; in the normal speed module, In the speed module, a mathematical model for simulating the ship's normal speed motion is generated by inputting the main scale parameters of the ship; after inputting the ship mass and damping parameters into the low-speed module, a mathematical model for simulating the low-speed motion of the ship is generated; the hull module receives the propeller rudder control force , and update the ship motion status according to the corresponding ship mathematical model.

Further, the normal speed module includes an uphole model and a propeller rudder model; the normal speed module performs constant speed control by setting a free rudder mode;

The low-speed module includes a hull model and a control force model; the low-speed module performs low-speed control by setting automatic direction and automatic positioning methods.

Further, the ship motion simulation unit also includes an environment module;

The environment module includes optionally set wind models, wave models, and flow models; in the wind model, the absolute wind speed, absolute wind direction, wind pressure coefficient, gust parameters, and random wind parameters of the average wind can be set; in the In the wave model, significant wave height, absolute wave direction, and wave spectrum can be set; in the flow model, absolute flow speed, absolute flow direction, and flow force tables can be set; the environment module is configured according to the selected parameters and ship motion. status, calculate the environmental interference force acting on the hull, and transmit it to the hull module;

The hull module receives the propeller rudder control force and environmental interference force, and updates the ship's motion status according to the corresponding ship mathematical model.

Further, the debugging interface includes a configuration area, a drawing area and a simulation speed control area;

The configuration area is used to configure the simulation time, control unit, and simulation unit;

The drawing area is used to display the heading, longitudinal, and transverse motion states and phase plane diagrams;

The simulation speed doubling control area is used to control the speed doubling during the simulation process.

Furthermore, the configuration area is also equipped with a refresh button, whose default value is set to not refresh, to display the motion state change curves and phase trajectories of multiple simulated ships to facilitate comparison and analysis; when refresh is clicked, the drawing area The data inside is cleared.

This application also provides a ship motion control debugging method, including the steps:

According to the modular ship motion control debugging system configuration No. 1 ship plan mentioned above, the normal speed ship motion mathematical model and its PID-based autopilot control plan are loaded and can be run directly;

Based on the configuration plan of the No. 1 ship, modify the ship configuration to perform autopilot control on other required ships;

Obtain the motion state and phase plane diagram of the No. 1 ship plan, analyze the flaws of the No. 1 ship plan, and conduct secondary development and parameter adjustment of the control algorithm of the ship's autopilot function;

According to the modular ship motion control debugging system configuration plan for ship No. 2 mentioned above, the low-speed ship motion mathematical model and its PID-based automatic orientation and/or automatic positioning control scheme are loaded and can be run directly;

Based on the configuration plan of the No. 2 ship, modify the ship configuration to perform automatic orientation and/or automatic positioning control for other required ships;

Obtain the motion status and phase plan diagram of the No. 2 ship plan, analyze the flaws of the No. 2 ship plan, and conduct secondary development and parameter adjustment of the automatic orientation and/or automatic positioning control algorithm of the ship;

Compare the motion status and phase plane diagram of the No. 1 ship plan and its adjustment plan with the No. 2 ship plan and its adjustment plan, expand the new control algorithm and find the optimal solution through simulation, and save the optimal solution of the customized configuration.

The invention provides a modular ship motion control simulation debugging system and a ship motion control debugging method, which can meet the secondary development and debugging needs of normal-speed and low-speed ship motion control, and can comparatively analyze the motion change trends when control parameters change. , guide the debugging direction and improve debugging efficiency. This application adopts a modular design so that it can be configured with different ship motion types and control types, and is suitable for secondary development of motion control for different ships. The debugging interface can issue the desired pose to the motion control unit, and can also set its control parameters. It can also be displayed graphically to visualize the debugging information, facilitate insight into the movement trends and influence patterns caused by parameter changes, guide debugging ideas, and avoid debugging. Invalid trial and error in the process reduces the boredom and confusion during the debugging process, and improves the debugging experience and efficiency.

Description of drawings

Figure 1 is a technical roadmap of the modular ship motion control debugging system of the present invention;

Figure 2 is a partial frame structure diagram of the modular ship motion control debugging system of the present invention;

Figure 3 is a schematic diagram of the debugging interface of the present invention;

Figure 4 is a schematic diagram of the coordinate reference system used in the present invention;

Figure 5 is a frame structure diagram of the modular ship motion control debugging system of the present invention;

Figure 6 shows the dynamic control unit, motion simulation unit and debugging interface of the modular ship motion control debugging system of the present invention. Schematic diagram of the data signal connection relationship between surfaces;

Figure 7 is a flow chart of the ship motion control debugging method of the present invention.

Detailed ways

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Example 1

In Embodiment 1, a modular ship motion control simulation debugging system is provided, which can meet the secondary development and debugging needs of normal-speed and low-speed ship motion control, can compare and analyze the motion change trend when the control parameters change, and guide the debugging direction. , improve debugging efficiency. The debugging system mainly has the following functions:

(1) Selection of ship movement type. This debugging system provides two types of motion control for normal-speed ships and low-speed ships, and users can choose according to their needs.

(2) Selection of ship motion mathematical model. Depending on the type of ship motion, users can choose different types of ship motion mathematical models. The mathematical model of normal-speed ship motion is suitable for normal-speed motion control such as autopilot, including longitudinal model, uphole model, main thrust model, rudder model, etc.; the mathematical model of low-speed ship motion is suitable for low-speed motion control such as automatic orientation and automatic positioning, etc. Including hull analytical model, control force model, etc. In addition, you can select interference models for the marine environment as needed, including wind models, wave models, and current models.

(3) Selection of control functions. This system provides basic control functions, such as automatic steering of normal-speed ships, automatic orientation and automatic positioning of low-speed ships. In addition, other functions can be secondary developed based on this system.

(4) Selection of control algorithm. This system provides PID control algorithm, suitable for autopilot, automatic orientation and automatic positioning. If other control algorithms are needed, they can be customized and added based on the PID algorithm format.

(5) The debugging process is easy to repeat. This system provides a debugging interface through which the control system can be flexibly configured. After the configuration is completed, when debugging a certain control parameter, you only need to change the control parameters on the interface and then run it. The debugging process is easy to repeat. The initial conditions of the simulation remain unchanged, making it easy to compare and analyze the control effects.

(6) Debugging information facilitates comparative analysis. The debugging interface supports multiple simulations to be displayed in the same drawing to facilitate observation of ship motion changes caused by changes in control parameters and guide the debugger to discover debugging rules. The debugging interface also supports the display of phase trajectory diagrams. The phase trajectory can clearly reflect the status changes of the system, more intuitively display the changing rules of ship motion, and facilitate parameter debugging. The debugging interface supports manually refreshing the drawing area and clearing the displayed data.

According to the functional description, the technical solution of the present invention includes functional design and modular design:

feature design. The debugging system includes a simulated ship motion control unit, a simulated ship motion simulation unit and a debugging interface. The functions of the ship motion control unit include: determining the control type, selecting the control function and its control algorithm, receiving control algorithm parameters; and calculating control instructions based on the measurement information and desired posture. The functions of the ship motion simulation unit include: determining the motion type, selecting the hull model, propeller and rudder model and environment model, receiving control instructions, and updating the ship motion status, propeller and rudder information and environmental information according to the mathematical model. The functions of the debugging interface include: configuring the ship motion control unit; configuring the ship motion simulation unit; configuring simulation conditions; drawing and displaying multiple simulation results and debugging information for the debugger to compare, analyze and make decisions. The technical route of each function is shown in Figure 1.

Modular design. The feature of the present invention is modularization, and the technical route of modular design is shown in Figure 2. Whether it is the motion simulation of a normal-speed ship or a low-speed ship, the common feature of the motion simulation is that the motion simulation unit can be divided into three parts, the actuator, the controlled object and environmental interference. Based on these common characteristics, each part is modularly designed to realize ship motion simulation of different motion types. The specific modularization method is as follows:

(1) The actuator includes a propeller rudder module and a control force module, which can be selected through configuration.

(2) The controlled objects include the well model module and the analytical model module, which can be selected through configuration.

(3) Environmental interference includes wind module, wave module, and flow module, and multiple selections can be made through configuration.

According to the different types of ship motion, ship motion control is also divided into two categories: normal speed ship motion control and low speed ship motion control. For normal-speed ship motion control, the control functions include autopilot, automatic track, etc., among which the autopilot function is the basic function. For low-speed ship motion control, the control functions include self-defined orientation, automatic positioning, low-speed path tracking, low-speed trajectory tracking, etc., among which automatic orientation and automatic positioning are the basic functions. This embodiment implements basic functions. For other functions, secondary development can be carried out based on this debugging system. The common feature of the above control functions is that the control unit includes three parts, measurement system, filtering/estimation and control algorithm. Each part can be modularized to realize the above control functions. Based on this feature, the ship's motion control unit is modularly designed, with the specific contents as follows:

(1) The measurement system includes true value mode and simulation mode; if the true value mode is selected, the measurement system directly obtains the ship's motion state; if the simulation mode is selected, the configured position reference system, compass and other sensors are simulated to measure the ship's motion state. Measurement acquisition.

(2) Filtering/estimation includes a variety of modules, which can be selected as needed. Filtering and estimation are not required by default.

(3) The control algorithm includes a variety of modules, the default is the PID algorithm module, and other control algorithm modules can be added as needed.

The beneficial effect of the present invention is that compared with the traditional control parameter debugging work, the debugging system does not need to modify and adjust the code. It only needs to configure the corresponding parameters on the debugging interface to observe the debugging effect, which greatly improves the efficiency of the debugging work. efficiency to meet the motion control design and debugging needs of different ships. The present invention provides two usable configuration solutions, which can be directly read and used through the debugging interface as shown in Figure 3, or based on these two configurations, simple configuration on the debugging interface can achieve multiple usages:

(1) After reading the configuration plan "Ship No. 1", you can load its normal-speed ship motion mathematical model and its PID-based autopilot control plan, which can be run directly;

(2) Based on the configuration plan of the No. 1 ship, other required ships can be controlled automatically, and the control parameters can be debugged by simply modifying the ship configuration;

(3) Based on the configuration plan of the No. 1 ship, the control algorithm of the ship’s autopilot function can be re-developed and parameter debugged;

(4) After reading the configuration plan "Ship No. 2", you can load its low-speed ship motion mathematical model and its PID-based automatic orientation and/or automatic positioning control plan, which can be run directly;

(5) Based on the configuration plan of the No. 2 ship, automatic orientation and/or automatic positioning control can be performed on the required ships, and the control parameters can be debugged simply by modifying the ship configuration;

(6) Based on the configuration plan of the No. 2 ship, the secondary development of the new control algorithm and parameter debugging of the automatic positioning function of the ship can be carried out;

(7) The debugging interface can be expanded with new control algorithms, easy to configure, and can save customized configuration plans.

Example 2

Embodiment 2 of the present invention provides a modular ship motion control simulation and debugging system, which mainly includes three parts: a ship motion simulation unit, a ship motion control unit and a debugging interface. The technical solutions of each part of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.

(1) Ship motion simulation unit.

The function of the ship motion simulation unit is to simulate the motion characteristics of the ship and provide simulation of the real ship for the motion control debugging of normal-speed and low-speed ships. The technical content involved in this module is shown in Figure 1, and mainly includes:

(1) Mathematical model of ship's constant speed motion, mainly Guidao model;

(2) Mathematical model of ship's low-speed motion, mainly analytical model;

(3) Propeller model, mainly a speed-controlled propeller model, usually the main thruster;

(4) Rudder model, usually located behind the main thruster;

(5) Control force model, usually suitable for low-speed control;

(6) Environmental interference model, usually including the impact of wind, waves and currents on the hull.

There are two coordinate reference systems involved in describing ship motion: one is the fixed coordinate system NED, which belongs to the inertial coordinate system; the other is the ship-borne coordinate system, which belongs to the attached coordinate system. The schematic diagram of the coordinate reference system is shown in Figure 4. Let O'X'Y'Z' represent the inertial coordinate system fixed on the earth's surface, and stipulate that the O'X' axis points to true north, the O'Y' axis points to true east, and the O'Z' axis points to the center of the earth. OXYZ represents the appendage coordinate system fixed at a certain point on the ship, and stipulates that the OX axis points to the bow, the OY axis points to the starboard side, and the OZ axis points vertically to the keel. When describing the motion of a ship, its kinematic equations and dynamic equations are needed. The kinematic equation represents the mutual conversion relationship between the ship's motion in the two coordinate systems; the dynamic equation describes the various influences on the ship and how they change accordingly.

Assume that the ship sails in infinitely deep and wide waters, and the free liquid surface is a still water surface, and the hull is regarded as a rigid body. When the ship is in a maneuvering state of course maintenance, track maintenance, or less than moderate intensity, its three-degree-of-freedom motion characteristics in the horizontal plane are mainly considered. When we discuss ship motion, we mainly consider the motion law of the ship's center of gravity G. Therefore, when establishing a mathematical model of ship motion, the origin O of the ship's coordinate system is taken at the ship's center of gravity. According to the coordinate system and variable definitions, the ship's three The kinematic equation of horizontal plane manipulation of degrees of freedom is expressed as

In the formula:

x, the north position coordinate of the ship's center of gravity;

y, the eastward position coordinate of the ship's center of gravity;

ψ, ship heading;

u, longitudinal linear velocity of the hull;

v, hull transverse linear velocity;

r, the angular velocity of the hull around the center of gravity.

Applying the momentum theorem and momentum moment theorem of Newtonian rigid body mechanics to analyze the dynamics of the ship, the dynamic equation of the ship can be obtained

The dynamic equation uses fluid inertia force, viscosity force, propeller rudder force and environmental interference force to drive the change of the ship's motion state, where:

m, hull mass;

m _x , the longitudinal additional mass of the hull;

m _y , the transverse additional mass of the hull;

I _zz , the moment of inertia of the hull around the z-axis;

J _zz , the additional moment of inertia of the hull around the z-axis;

X, represents the longitudinal force on the hull;

Y, represents the lateral force on the hull;

N, represents the rotational moment on the hull;

The subscript H represents the viscous fluid force of the bare hull;

The subscript P indicates the thrust of the propeller on the hull;

The subscript R indicates the rudder force on the hull;

The subscript E indicates the interference force of the marine environment to the hull;

x _G is the distance between the center of gravity and amidships, and the center of gravity is forward.

The result of the ship's fluid inertia force is equivalent to the mass and moment of inertia of the object increasing by a certain value, which is called the additional mass and additional moment of inertia. From a practical calculation point of view, the ship's additional mass and additional moment of inertia are usually approximated by the approximate estimation formula obtained by Zhou Zhaoming's multiple regression analysis of Japan's famous Genliang diagram.

In the formula:

L, length between vertical lines;

B, ship’s width;

d, draft;

C _b , square coefficient.

The maneuvering speed of the ship needs to be taken into account when calculating the viscous hydrodynamic forces of the hull. Generally, ship maneuvers with speeds higher than 5 knots belong to the normal speed range ship motion type and adopt the Guidao model. The structure of the bare hull model of the Guidao model is

In the formula:

X′ _uu is the resistance coefficient of direct navigation;

X′ _vv , X′ _vr , X′ _rr are longitudinal coupling hydrodynamic derivatives;

Y′ _v , Y′ _r , N′ _v , N′ _r are linear hydrodynamic derivatives;

Y′ _vv , Y′ _rr , Y′ _vvr , Y′ _vrr , N′ _vv , N′ _rr , N′ _vvr , N′ _vrr are nonlinear hydrodynamic derivatives.

Ship operations with speeds below 3 knots belong to the low-speed domain ship motion type and adopt low-speed analytical models. The bare hull model structure of the ship's low-speed mathematical model is as follows

In the formula:

m is the hull mass;

_Izz is the moment of inertia of the hull around the Z axis;

m _x , m _y and additional inertia J _zz are the hydrodynamic coefficients of hull inertia, which can be calculated by CFD technology;

X _|u|u , Y _|v|v , and N _|r|r are the viscous hydrodynamic coefficients of the hull, which can be calculated through CFD technology and then fitted.

The propeller thrust calculation method generally uses the experimental results of open water propellers, then considers the impact of the hull on the propeller and the impact of the propeller on the hull, and then takes into account the interference of the rudder on the propeller. The thrust calculation formula is

In the formula:

X _P is the longitudinal thrust, N;

ρ is the fluid density, kg/m ³ ;

n is the propeller speed, rpm;

D _p is the propeller diameter, m;

k _T is the thrust coefficient of the open water propeller;

t _p is the thrust reduction.

The hydrodynamic model acting on the rudder is

X _R =(1-t _R )F _N sinδ

Y _R =(1+a _H )F _N cosδ

N _R =(x _R +a _H x _H )F _N cosδ

In the formula:

X _R , Y _R , and _NR are respectively the longitudinal force, transverse force, and rotational moment caused by the fluid reaction on the hull caused by steering;

δ is the rudder angle;

F _N is the positive pressure on the rudder;

t _R , a _H , x _H are used to represent the interference coefficient of the rudder to the hull.

The calculation model of the force exerted by the wind on the hull is

In the formula:

V _a is the wind speed;

ρ _a is the air density;

A _f is the orthographic projection area of the ship above the waterline;

A _s is the projected area of the ship side above the waterline;

α _R is the wind angle;

C _Wx , C _Wy , and C _Wn are the wind pressure (moment) coefficients on each degree of freedom respectively.

The wave drift force estimation formula of irregular waves is:

In the formula:

ρ, represents the density of seawater;

L, means captain;

g, represents the acceleration of gravity;

λ, represents the wavelength

χ, represents the relative wave direction;

m, represents the number of regular wave components;

ω _i , represents the circular frequency of a certain regular wave component;

Δω _i , represents the frequency difference between regular waves of adjacent frequencies;

S _ζζ , represents the wave spectral density;

Represents the test coefficient.

Most hydrodynamic models of flow acting on ships adopt steady and uniform assumptions, which are only applicable to oceans. The control simulation is not suitable for harbors, waterways, offshore, shallow water, etc. According to Yang Yansheng's research, the impact of uniform flow on ship maneuvering is only kinematic.

The hydrodynamic model of a ship with uniform flow is

In the formula:

The subscript H represents the viscous hydrodynamic force;

The subscript PR indicates the hydrodynamic force caused by the propeller rudder.

(2) Ship motion control unit.

The control unit obtains the controller and other related parameters by reading the configuration file; then based on the expected position, speed, acceleration and other information set by the user, as well as the ship's position, heading, wind speed and direction measured by the sensor as input to the control unit ; In order to ensure that the control instructions are smooth and stable, various information can be filtered and estimated, and then it is determined whether to implement wind feedforward control as needed; and the control parameters are adjusted according to the debugging information and the control instructions are calculated.

The ship motion control unit can realize the automatic steering of normal-speed ships and the automatic orientation and automatic positioning functions of low-speed ships. For normal-speed ships, the operation steps of the autopilot function are as follows:

(1) Configure current functions;

(2)Initialization;

(3) Measure the current heading;

(4) Receive the desired heading;

(5) Calculate the rudder angle command through the control algorithm based on the current heading and desired heading;

(6) Go to step (3) and run in a loop until the end of the operation.

For low-speed ships, the operation steps of its automatic orientation function are as follows:

(1) Configure current functions;

(2)Initialization;

(3) Measure the current heading;

(4) Receive the desired heading;

(5) Calculate the control force command through the control algorithm based on the current heading and desired heading;

(6) Go to step (3) and run in a loop until the end of the operation.

For low-speed ships, if necessary, automatic positioning can also be performed while automatically orienting. The operation steps of the automatic positioning function are as follows:

(1) Configure current functions;

(2)Initialization;

(3) Measure the current northeast position and convert it into vertical and horizontal positions;

(4) Receive the desired northeast position and convert it into vertical and horizontal positions;

(5) Based on the current vertical and horizontal position and the expected vertical and horizontal position, the control force command is calculated through the control algorithm;

(6) Go to step (3) and run in a loop until the end of the operation.

According to the operation steps of control functions such as autopilot, automatic orientation and automatic positioning, it can be seen that the core of the entire control unit lies in the control algorithm. The algorithm is presented as a function. The function functions include:

(1) Receive interface parameters, including current status and expected status;

(2) Read control parameters;

(3) Operation control subject.

The control law that executes each control algorithm in the control subject.

Proportional (P) integral (I) differential (D) control, referred to as PID control, is one of the earliest developed control strategies. Due to its simple algorithm, good robustness, and high reliability, it is widely used in the field of ship motion control. The PID controller is a linear controller that forms a deviation based on the given expected value r(t) and the current actual output value c(t): e(t)=r(t)-c(t). The proportion, integral and differential of the deviation are linearly combined to form a control quantity to control the movement of the ship. The control rules implemented in its control subject are:

Other control algorithms, such as LQR, MPC, etc., can be easily customized and added.

(3) Debugging interface.

The interface has three functions: (1) controls the simulation process, and can adjust the simulation duration and simulation speed; (2) can configure the ship motion control unit and motion simulation unit to realize the control functions of various ships; (3) provides a debugging interface and Debugging information, where the debugging information includes motion state change curves and phase trajectories, as shown in Figure 3.

The implementation process of the interface should be easy to expand. Adding other mathematical models or control algorithms to the interface will not affect existing functions. When designing the interface based on this idea, the interface design is divided into the following modules: GUI module, setting module, configuration module, drawing module, data module, and communication module. The functions of each module are as follows:

The GUI module is used for the debugger to interact with the simulation process. It is implemented based on MATLAB DesignApp and is convenient and fast;

Setting module, including settings of simulation duration and simulation speed;

The configuration module is used for configuring, reading, and saving ship motion control units and motion simulation units. It is suitable for a variety of ships and a variety of control functions, and facilitates the custom expansion and addition of various ships and various control functions;

The drawing module vividly displays running information and debugging information, making it easier for the debugger to observe and guide the debugging direction;

Data module, used to transfer and store various data.

Example 3

In Embodiment 3, a modular ship motion control simulation debugging system is provided. The ship motion control debugging system includes a motion control unit, a motion simulation unit and a debugging interface; the motion control unit is based on modular design and is suitable for Underactuated control of normal-speed ships is also suitable for dynamic positioning (DP) control of low-speed ships, and different control algorithms can also be selected and added; the motion simulation unit is based on a modular design to be suitable for various main scales and propellers. Ship motion control with rudder configuration; the debugging interface can set parameters and control methods, and at the same time draw and display the ship motion status and related information, which is beneficial to the debugging process.

Before the simulation, each module of the unit needs to be configured, including the measurement module, estimation module, feedforward module, and control module. The simulation can be run only after the configuration is completed. The configuration parameters can be saved into the configuration file and the stored configuration can be read. file; the characteristics of each module are as follows:

Measurement module: Analog compass, position reference system, wind sensor, propeller and rudder device feedback, etc., measure and process the ship motion status, propeller operating status and marine environment status transmitted from the ship motion simulation unit, and then transmit to the estimation module;

Estimation module: Filters and estimates the data transmitted from the measurement module to obtain smooth data and unmeasurable data; the default is true value mode, using measured values directly without designing filters or estimators; other modes can be selected Value filtering, Alpha-Beta filtering, EKF filtering, passive observer;

Feedforward module: can compensate for measurable rapidly changing environmental interference; its default is no feedforward mode, and wind feedforward mode can be selected;

Control module: The ship's motion control type and its control methods and parameters can be configured; the control type includes normal speed control and low speed control; the normal speed control uses the rudder angle as the control variable, the default is PID control, the control parameters can be debugged, and can be customized Add other control methods that need to be debugged; low-speed control uses the generalized control force of three degrees of freedom as the control variable. The default is PID control. The control parameters can be debugged. Other control methods that need to be debugged can be customized; ship motion calculated based on the estimation module status and selected control method, the control module calculates the control instructions and transmits them to the ship motion simulation unit.

Before simulation, each module of the unit needs to be configured, including the command module, propeller and rudder module, environment module, and hull module. The simulation can only be run after the configuration is completed. The configuration parameters can be saved into the configuration file and the stored configuration file can be read. ;The characteristics of each module are as follows:

The command module can select the control force command mode or the propeller rudder command mode; the control force command mode receives the three-degree-of-freedom generalized control force command from the ship motion control unit and transmits it to the propeller rudder module; the propeller rudder command mode receives the three-degree-of-freedom generalized control force command from the ship motion control unit. Receive each propeller rudder command and transmit it to the propeller rudder module;

The propeller rudder module includes the abstract propeller rudder module and the simulated propeller rudder module, which can be selected individually; the abstract propeller rudder module simulates the dynamic characteristics of the generalized control force, and can update the generalized control force according to the generalized control force instructions and transmit it to the hull module; simulated propeller rudder The module simulates the dynamic characteristics of each propeller rudder, and can configure the type, scale, and position of each propeller rudder. It can update the propeller rudder status according to the propeller rudder instructions, and calculate the resultant force of each propeller rudder based on the propeller rudder model, that is, the generalized control force, and transmit it to hull module;

The environment module can configure the ocean environment, and choose whether to add the influence of wind, waves, and currents. Multiple selections are possible; if you check wind, you can continue to set the absolute wind speed, absolute wind direction, wind pressure coefficient, gust parameters, and random wind parameters of the average wind; check If you select Wave, you can continue to set the meaningful wave height, absolute wave direction, and wave spectrum; if you select Flow, you can continue to set the absolute flow speed, absolute flow direction, and flow force table; the environment module calculates the effects on the hull based on the above configuration and the ship's motion status. The environmental interference force is transmitted to the hull module;

The hull module can configure the motion type of the ship, which is suitable for the motion simulation of both normal-speed ships and low-speed ships. Different ship mathematical model modules can also be selected and added, which is suitable for ship motion simulation in open deep sea areas; After selecting the normal speed module, enter the main scale parameters of the ship for configuration to obtain a mathematical model that simulates the normal speed motion of the ship; after selecting the low speed module, enter the ship mass and damping parameters for configuration to obtain a mathematical model that simulates the low speed motion of the ship; the hull module receives The propeller rudder control force and environmental interference force update the ship's motion status according to the corresponding ship mathematical model.

The debugging interface includes a configuration area, a drawing area and a simulation multi-speed control area; the configuration area configures the simulation time, control unit, and simulation unit; the drawing area can display the heading, longitudinal, and transverse motion status and phase plan, and is equipped with refresh The button is not refreshed by default and can display multiple debugging effects to facilitate comparison and analysis.

Example 4

In Embodiment 4, a modular ship motion control simulation debugging system is provided. As shown in FIG. 5 , the modular ship motion control debugging system includes a motion control unit 1 , a motion simulation unit 2 and a debugging interface 3 . As shown in Figure 6, it is the data signal connection relationship between the dynamic control unit 1, the motion simulation unit 2 and the debugging interface 3 of the modular ship motion control debugging system.

The motion control unit 1 includes a plurality of modules for simulating the motion control mode of a ship. The motion control mode of the ship includes under-actuation control of a normal-speed ship, dynamic positioning control of a low-speed ship, or optionally added editable motion. control algorithm.

The motion simulation unit 2 includes multiple modules for simulating the motion states of ships with various main dimensions and propeller and rudder configurations.

The debugging interface 3 is used to display the motion state change curves and phase trajectories of the multiple simulated ships through drawings, and adjust the parameters of the motion control unit and/or each module of the motion simulation unit by comparing the multiple simulation results.

Further, before performing the simulation, it is necessary to configure the parameters of each module of the motion control unit 1 and the motion simulation unit 3. After the configuration is completed, the simulation is performed and the configuration parameters are saved in the configuration file.

As shown in FIG. 5 , the motion control unit 1 includes a measurement module 11 , an estimation module 12 , a feedforward module 13 and a control module 14 .

The measurement module 11 is used to simulate a compass to obtain a position reference system, analyze and process the data on ship motion status, propeller operating status and marine environment status transmitted by the motion simulation unit, and then transmit it to the estimation module.

The estimation module 12 is used to process the data transmitted from the measurement module to calculate the motion state of the ship; the estimation module includes a true value mode and a filtering mode that can be optionally set; the estimation module defaults to the true value mode, directly using measured values to calculate the motion state of the ship; the filtering mode includes optionally set median filtering, Alpha-Beta filtering, EKF filtering, and passive observer, and the filtering mode is used to pass filters and estimators Filter and estimate the data transmitted from the measurement module to obtain smooth data.

The feedforward module 13 is used to compensate for environmental interference data; the feedforward module 13 includes a no feedforward mode and a wind feedforward mode. The default is the no feedforward mode, and the wind feedforward mode can be optionally set.

The control module 14 is used to configure the motion control type of the ship and its control methods and parameters; the motion control type of the ship includes normal speed control and low speed control; the normal speed control uses the rudder angle as the control variable, and the default is PID control, and the control parameters can be adjusted, and the control method can be customized to be added or edited; the low-speed control uses the generalized control force of three degrees of freedom as the control variable, and the default is PID control, the control parameters can be adjusted, and the control can be customized to be added or edited. Method; the control module calculates the control instructions based on the ship motion state calculated by the estimation module and the selected ship motion control type and its control method and parameters, and transmits it to the ship motion simulation unit.

As shown in FIG. 5 , the ship motion simulation unit 2 includes a command module 21 , a propeller module 22 , and a hull module 24 .

The command module 21 can optionally set the control force command mode and the propeller rudder command mode; the control force command mode is to receive a three-degree-of-freedom generalized control force command from the ship motion control unit and transmit it to the propeller rudder module; the propeller rudder module The rudder command mode is to receive each propeller rudder command from the ship motion control unit and transmit it to the propeller rudder module.

The propeller rudder module 22 includes an optional abstract propeller rudder module and a simulated propeller rudder module; the abstract propeller rudder module simulates the dynamic characteristics of the generalized control force, updates the generalized control force according to the generalized control force instructions, and transmits it to the hull module ; The simulated propeller rudder module simulates the dynamic characteristics of each propeller rudder, configures the type, scale, and position of each propeller rudder, updates the propeller rudder status according to the propeller rudder instructions, and calculates the resultant force of each propeller rudder as a generalized control force based on the propeller rudder model. , transmitted to the hull module.

The hull module 24 includes a normal speed module 241 and a low speed module 242 that can be optionally set, and are used for motion simulation of normal speed ships or for motion simulation of low speed ships, and ship mathematical model modules suitable for different environments can be selected or added; In the normal speed module, a mathematical model of simulated ship normal speed motion is generated by inputting the main scale parameters of the ship; in the low speed selection module, a mathematical model of simulated ship low speed motion is generated after inputting ship mass and damping parameters; the hull module receives a propeller rudder control force, and the ship motion status is updated according to the corresponding ship mathematical model.

As shown in Figure 5, the normal speed module 241 includes an well model 2411 and a propeller rudder model 2412; the normal speed module 24 performs normal speed control by setting a free rudder mode; the low speed module 242 includes a hull model 2421 and a control force Model 2422; the low-speed module performs low-speed control by setting automatic direction and automatic positioning methods.

As shown in Figure 5, the ship motion simulation unit also includes an environment module 23; the environment module 23 includes a wind model 231, a wave model 232, and a flow model 233 that can be optionally set; in the wind model 231, The absolute wind speed, absolute wind direction, wind pressure coefficient, gust parameters, and random wind parameters of the average wind; in the wave model 232, meaningful wave height, absolute wave direction, and wave spectrum can be set; in the flow model 233, Absolute flow speed, absolute flow direction, and flow force tables can be set; the environment module 23 calculates the environmental interference force acting on the hull according to the selected parameter configuration and the ship's motion state, and transmits it to the hull module 24; the hull module 24 Receive the propeller rudder control force and environmental interference force, and update the ship's motion status according to the corresponding ship mathematical model.

As shown in FIG. 5 , the debugging interface 3 includes a configuration area 31 , a drawing area 32 and a simulation speed control area 33 .

The configuration area 31 is used to configure the simulation time, control unit, and simulation unit; the drawing area 32 is used to display the heading, longitudinal, and transverse motion states and phase plane diagrams; the simulation speed control area 33 is used to control Double speed during simulation.

Furthermore, the configuration area 31 is also provided with a refresh button, the default value of which is set to not refresh, to display the motion state change curves and phase trajectories of multiple simulated ships to facilitate comparison and analysis; when refresh is clicked, the drawing The data in the area is cleared.

As shown in Figure 7, this application also provides a ship motion control debugging method, including the steps:

S1. According to the modular ship motion control debugging system configuration No. 1 ship plan mentioned above, load the normal speed ship motion mathematical model and its PID-based autopilot control plan, which can be run directly;

S2. Based on the configuration plan of ship No. 1, modify the ship configuration to perform autopilot control on other required ships;

S3. Obtain the motion state and phase plane diagram of the No. 1 ship plan, analyze the flaws of the No. 1 ship plan, and conduct secondary development and parameter adjustment of the control algorithm of the ship's autopilot function;

S4. According to the modular ship motion control debugging system configuration plan for ship No. 2 mentioned above, load the low-speed ship motion mathematical model and its PID-based automatic orientation and/or automatic positioning control plan, which can be run directly;

S5. Based on the configuration plan of the No. 2 ship, modify the ship configuration to perform automatic orientation and/or automatic positioning control for other required ships;

S6. Obtain the motion status and phase plane diagram of the No. 2 ship plan, analyze the flaws of the No. 2 ship plan, and conduct secondary development and parameter adjustment of the automatic orientation and/or automatic positioning control algorithm of the ship; and

S7. Compare the motion state and phase plane diagram of the No. 1 ship plan and its adjustment plan with the No. 2 ship plan and its adjustment plan, expand the new control algorithm and find the optimal solution through simulation, and save the customized configured optimal solution. .

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can make various changes, modifications, substitutions and changes to these embodiments without departing from the principles and spirit of the invention. transform. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Claims

A modular ship motion control debugging system, which is characterized by:

The ship motion control debugging system includes a motion control unit, a motion simulation unit and a debugging interface;

The motion control unit includes multiple modules for simulating the motion control mode of the ship. The motion control mode of the ship includes under-actuation control of normal-speed ships, dynamic positioning control of low-speed ships, or optionally added editable motion control. algorithm;

The motion simulation unit includes a plurality of modules for simulating the motion state of ships with various main scales and propeller and rudder configurations;

The debugging interface is used to display the motion state change curves and phase trajectories of the multiple simulated ships through drawings, and adjust parameters of the motion control unit and/or each module of the motion simulation unit by comparing the multiple simulation results.
The modular ship motion control debugging system according to claim 1, characterized in that:

Before performing the simulation, it is necessary to configure the parameters of each module of the motion control unit and the motion simulation unit. After the configuration is completed, the simulation is performed and the configuration parameters are saved into a configuration file.
The modular ship motion control debugging system according to claim 2, characterized in that:

The motion control unit includes a measurement module, an estimation module and a control module;

The measurement module is used to simulate a compass to obtain a position reference system, analyze and process the data on ship motion status, propeller operating status and marine environment status transmitted by the motion simulation unit, and then transmit it to the estimation module;

The estimation module is used to process the data transmitted from the measurement module to calculate the motion state of the ship; the estimation module includes a true value mode and a filtering mode that can be optionally set; the estimation module defaults to the true value mode , directly use the measured values to calculate the motion state of the ship; the filtering mode includes optionally set median filtering, Alpha-Beta filtering, EKF filtering, and passive observer, and the filtering mode is used to pass the filter and estimator to The data transmitted by the measurement module is filtered and estimated to obtain smooth data;

The control module is used to configure the motion control type of the ship and its control methods and parameters; the motion control type of the ship includes normal speed control and low speed control; the normal speed control uses the rudder angle as the control variable, and the default is PID control , and the control parameters can be adjusted, and the control method can be customized to be added or edited; the low-speed control uses the generalized control force of three degrees of freedom as the control variable, and the default is PID control, the control parameters can be adjusted, and the control method can be customized to be added or edited. ; The control module calculates the control instructions based on the ship motion state calculated by the estimation module and the selected ship motion control type and its control method and parameters, and transmits it to the ship motion simulation unit.
The modular ship motion control debugging system according to claim 3, characterized in that:

The motion control unit also includes a feedforward module;

The feedforward module is used to compensate for environmental interference data; the feedforward module includes no feedforward mode and wind feedforward mode. The default is no feedforward mode, and the wind feedforward mode can be optionally set.
The modular ship motion control debugging system according to claim 2, characterized in that:

The ship motion simulation unit includes a command module, a propeller and rudder module, an environment module, and a hull module;

The command module can optionally set a control force command mode and a propeller rudder command mode; the control force command mode is to receive a three-degree-of-freedom generalized control force command from the ship motion control unit and transmit it to the propeller rudder module; the propeller rudder The command mode is Receive each propeller rudder command from the ship motion control unit and transmit it to the propeller rudder module;

The propeller rudder module includes an optional abstract propeller rudder module and a simulated propeller rudder module; the abstract propeller rudder module simulates the dynamic characteristics of the generalized control force, updates the generalized control force according to the generalized control force instructions, and transmits it to the hull module; The simulated propeller rudder module simulates the dynamic characteristics of each propeller rudder, configures the type, scale, and position of each propeller rudder, updates the propeller rudder status according to the propeller rudder instructions, and calculates the resultant force of each propeller rudder as a generalized control force based on the propeller rudder model. transmitted to the hull module;

The hull module includes a normal speed module and a low speed module that can be optionally set, and are used for motion simulation of normal speed ships or for motion simulation of low speed ships. Ship mathematical model modules suitable for different environments can be selected or added; in the normal speed module, In the speed module, a mathematical model for simulating the ship's normal speed motion is generated by inputting the main scale parameters of the ship; after inputting the ship mass and damping parameters into the low-speed module, a mathematical model for simulating the low-speed motion of the ship is generated; the hull module receives the propeller rudder control force , and update the ship motion status according to the corresponding ship mathematical model.
The modular ship motion control debugging system according to claim 5, characterized in that:

The normal speed module includes an uphole model and a propeller rudder model; the normal speed module performs normal speed control by setting a free rudder mode;

The low-speed module includes a hull model and a control force model; the low-speed module performs low-speed control by setting automatic direction and automatic positioning methods.
The modular ship motion control debugging system according to claim 5, characterized in that:

The ship motion simulation unit also includes an environment module;

The environment module includes optionally set wind models, wave models, and flow models; in the wind model, the absolute wind speed, absolute wind direction, wind pressure coefficient, gust parameters, and random wind parameters of the average wind can be set; in the In the wave model, significant wave height, absolute wave direction, and wave spectrum can be set; in the flow model, absolute flow speed, absolute flow direction, and flow force tables can be set; the environment module is configured according to the selected parameters and ship motion. status, calculate the environmental interference force acting on the hull, and transmit it to the hull module;

The hull module receives the propeller rudder control force and environmental interference force, and updates the ship's motion status according to the corresponding ship mathematical model.
The modular ship motion control debugging system according to claim 1, characterized in that:

The debugging interface includes a configuration area, a drawing area and a simulation speed control area;

The configuration area is used to configure the simulation time, control unit, and simulation unit;

The drawing area is used to display the heading, longitudinal, and transverse motion states and phase plane diagrams;

The simulation speed doubling control area is used to control the speed doubling during the simulation process.
The modular ship motion control debugging system according to claim 8, characterized in that:

The configuration area is also equipped with a refresh button, whose default value is set to not refresh, to display the motion state change curves and phase trajectories of multiple simulated ships to facilitate comparison and analysis; when refresh is clicked, the data in the drawing area Clear.
A ship motion control debugging method, characterized by including the steps:

According to any one of claims 1 to 9, the modular ship motion control debugging system configures the No. 1 ship plan, loads the normal speed ship motion mathematical model and its PID-based autopilot control plan, and can be run directly;

Based on the configuration plan of the No. 1 ship, modify the ship configuration to perform autopilot control on other required ships;

Obtain the motion state and phase plane diagram of the No. 1 ship plan, analyze the flaws of the No. 1 ship plan, and conduct secondary development and parameter adjustment of the control algorithm of the ship's autopilot function;

According to the modular ship motion control debugging system configuration No. 2 ship plan according to any one of claims 1 to 9, loading the low-speed ship motion mathematical model and its PID-based automatic orientation and/or automatic positioning control plan can run directly;

Based on the configuration plan of the No. 2 ship, modify the ship configuration to perform automatic orientation and/or automatic positioning control for other required ships;

Obtain the motion status and phase plan diagram of the No. 2 ship plan, analyze the flaws of the No. 2 ship plan, and conduct secondary development and parameter adjustment of the automatic orientation and/or automatic positioning control algorithm of the ship;

Compare the motion status and phase plane diagram of the No. 1 ship plan and its adjustment plan with the No. 2 ship plan and its adjustment plan, expand the new control algorithm and find the optimal solution through simulation, and save the optimal solution of the customized configuration.