CN104142626B - Ship dynamic positioning control method based on inverse system and internal model control - Google Patents
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Abstract
The invention provides a ship dynamic positioning control method based on an inverse system and internal model control. The ship dynamic positioning control method comprises the following steps of 1 establishing a ship dynamic system mathematic model; 2 constructing a pseudo-linear system about a ship; 3 designing an internal model controller of an inner ring; 4 calculating a reference model of a speed ring control system; 5 designing an internal model controller of an outer ring; 6 adding coordinate system transformation; 7 designing parameters of the inner ring controller; 8 designing parameters of the outer ring controller. By means of the ship dynamic positioning control method based on the inverse system and an internal model control algorithm, the problem of ship motion control can be reasonably and efficiently solved, the robustness is good, the positioning accuracy is high, and green control can be achieved.
Description
Technical Field
The invention discloses a ship dynamic positioning control method based on an inverse system and internal model control, and belongs to the improvement technology of the ship dynamic positioning control method based on the inverse system and the internal model control.
Background
With the development of society and the deep ocean development of people, the demand of positioning equipment is increased. Such as salvage life boats, engineering supply vessels, drilling platforms, offshore fire fighting vessels, marine research vessels, mining vessels, submarine pipeline and cable laying work vessels, etc., which require a positioning system, i.e., a vessel is positioned and controlled in a predetermined purpose and a predetermined position, when performing diving operations, diving tracking, offshore construction, offshore exploration. The Dynamic positioning system (Dynamic positioning system) is a closed-loop control system, and its function is that it can continuously detect the deviation of actual position and target position of ship without the help of anchoring system, and then according to the influence of external disturbance power of wind, wave and stream, etc. the thrust required for making ship restore to day standard position can be calculated, and the thrust distribution can be made for every thruster on the ship, and can make every thruster produce correspondent thrust so as to make ship retain on the position required on sea level as far as possible. The method has the advantages that the positioning cost cannot be increased along with the increase of the water depth, and the operation is more convenient, so that the method has more and more important significance for the research of the dynamic positioning system.
The most sophisticated automatic control method used in engineering to date is PID control, but PID control relies too much on an accurate mathematical model, and it is difficult to obtain an accurate kinematic model of the vessel in practice. With the technological progress and the development of modern control theory, various new control methods, such as neural network control, H-infinity control, backstepping control and the like, are successively applied to the ship course control. However, due to the insufficient generalization capability of the neural network control, the knowledge expression method in the box can not learn by using initial experience, so that the learning is easy to fall into a local minimum value, and the potential of distributed parallel computing depends on the improvement of a hardware technology. The problem of complex H infinity robust control calculation; setting indexes and selecting weight functions are still difficult; and the H ∞ robust control problem of the bad condition number and the model reduction problem. The backstepping control method has certain limitations, namely, the backstepping control method can only be suitable for a strict feedback control system or a system which can be in a strict feedback form, and has the problems of expansion calculation, difficulty in constructing a Lyapunov function and the like.
Internal Model Control (IMC), originally proposed in the 80 s, was introduced by Garcia and Morari, which generated a background that had two main aspects, one was for systematic analysis of the two predictive control algorithms MAC and DMC proposed at the time; and secondly, the method is used as an extension of the Smith predictor, so that the design is simpler and more convenient, the robustness and the immunity are greatly improved, and the method is a control method with strong practicability. The device has the main characteristics of simple structure, visual and simple design, few on-line adjusting parameters, clear adjusting policy and easy adjustment. The method has particularly remarkable effect on the improvement of robustness and immunity and the control of a large-time-lag system. Therefore, since its generation, it has been widely used only in the process control with slow response, and it has been possible to obtain an effect superior to the PID in the motor control with fast response. IMC design is simple, tracking performance is good, robustness is strong, influence of non-measurable interference can be eliminated, and attention is always paid to the control world.
Disclosure of Invention
The invention aims to provide a ship dynamic positioning control method based on an inverse system and internal mode control aiming at the problems of multivariable coupling, nonlinearity, hysteresis and the like in ship motion in consideration of the problems. The ship dynamic positioning control method based on the inverse system and the internal model control algorithm can reasonably and efficiently solve the problem of ship motion control, has strong robustness and positioning accuracy, and can realize green control.
The technical scheme of the invention is as follows: the invention discloses a ship dynamic positioning control method based on an inverse system and internal model control, which comprises the following steps:
1) establishing a mathematical model of a ship motion system;
2) constructing a pseudo-linear system about a vessel;
3) designing an inner mold controller of an inner ring;
4) calculating a reference model of the speed loop control system;
5) designing an inner model controller of an outer ring;
6) adding coordinate system conversion;
7) designing parameters of an inner ring controller;
8) and designing parameters of an outer loop controller.
The specific method for establishing the mathematical model of the ship motion system in the step 1) comprises the following steps: and establishing a kinematic model of three degrees of freedom of ship swaying, surging and yawing.
The specific method for constructing the pseudo linear system related to the ship in the step 2) is that according to the construction principle of α -order inverse systems, α -order inverse systems pi of an actual motion system sigma of the ship are obtained, and the system sigma and the system pi are compounded in series to form a pseudo linear system G1Thus, the ship is realized by constructing α -order inverse systemAnd (4) linearization and decoupling of the ship actual motion system sigma.
The inner ring of step 3) above is a speed ring.
The specific method for designing the inner-ring inner-mode controller in the step 3) is as follows: for pseudo linear system G1Performing internal model control according to pseudo linear system G1Obtaining a pseudo-linear system model according to the design principle of the internal model controllerAnd inner loop IMC controller GIMC(s) is represented by the formula (1.1),
where f(s) is a velocity loop IMC filter,is the minimum phase part of the controlled system model.
The specific method for calculating the reference model of the speed loop control system in the step 4) comprises the following steps: as shown in FIG. 3, according to the model structure of the inner loop control system, the input-output relationship is
Wherein Y(s), R(s) are input and output of the system, Gp(s),Respectively controlling a system and a controlled system model;
ignore Gp(s),Obtaining a reference model (1.3) formula of the speed loop control system delta,
wherein u, v and r are respectively the ship surging speed, the ship surging speed and the ship yawing speed, ug,vg,rgRespectively given control signals, f, of the speed loopu(s),fv(s),fr(s) IMC filters for three degrees of freedom for the velocity loop, respectively.
The outer ring of step 5) above is a position ring.
The specific method for designing the internal model controller of the outer ring in the step 5) is as follows: according to the controlled system G2And obtaining a controlled system model according to an internal model control principle, and designing an outer ring IMC controller GIMC(s) controlled System G at this time2Based on an inner ring control system, an integral link is added and is related to an adding position of coordinate conversion.
The specific method for adding coordinate system conversion in the step 6) is as follows: the position controller of the ship controls the position and the attitude of the ship in an inertial coordinate system, the speed ring control and detection are the motion characteristics of the ship under ship-associated coordinates, a coordinate conversion link is needed when the position of the ship is controlled in actual motion, the relation between the inertial coordinate system and the ship-associated coordinate system is shown in figure 4, a coordinate transformation expression is shown in (1.4),
whereinIs the two-dimensional speed of the ship in the x and y directions under the inertial coordinate system,for vessels in inertial frameThe angular velocity of the light beam is measured,the corner direction of the ship under an inertial coordinate system, and u, v and r are the ship surging speed, the ship surging speed and the bow angular velocity along with the ship coordinate system;
two adding modes are selected for coordinate conversion, 1) a coordinate conversion link is placed outside a position ring: under the inertial coordinate, comparing the set position signal with the current position, and performing coordinate conversion on the deviation of the set position signal to obtain a ship-associated position signal as a position ring control signal; 2) the coordinate conversion link is placed outside the speed ring: the inertial coordinate signal is used as a position ring control signal, and the output signal of the position ring is used as a speed ring control signal after coordinate conversion;
position ring controlled system G under two forms2Reference model ofThe ratio of the sum of the two, i.e. (1.5),
so the design of the position ring controller is not influenced.
The specific method for designing the parameters of the inner ring controller in the step 7) is as follows: limiting adjustment is realized according to the index requirement of the speed ring and the thrust; the specific method for designing the parameters of the outer ring controller in the step 8) is as follows: and adjusting according to the index requirement of the position ring and the performance limit of the speed ring.
The invention has the beneficial effects that:
1) the invention provides an alpha-order inverse system method adopted in ship control aiming at the problems of multivariable coupling, nonlinearity and the like in multiple ship motions, namely decoupling control of a nonlinear model is realized through feedback linearization. After the alpha-order inverse system is adopted, the internal model control structure of the ship is clearer, and the algorithm is simpler.
2) The invention adopts the internal model control of the double closed loop, and the ship dynamic positioning control system has the characteristics of quick response, good robustness, strong disturbance resistance, accurate positioning and the like.
3) The method has the advantages of strict derivation, simple structure, easy realization of parameter adjustment and strong practicability.
The ship dynamic positioning control method based on the inverse system and the inner mold control is convenient and practical.
Drawings
FIG. 1 is a schematic diagram of a vessel control system based on an inverse system and an internal model control algorithm according to the present invention;
FIG. 2 is a schematic diagram of a pseudo linear system constructed based on an alpha-order inverse system;
FIG. 3 is a block diagram of a vessel speed loop control system based on an inverse system and an internal model control algorithm;
FIG. 4 is a diagram of the relationship between the inertial coordinate system and the onboard coordinate system;
FIG. 5 is a flowchart of a ship control system based on an inverse system and an internal model control algorithm.
Detailed Description
Example (b):
the invention is illustrated in further detail by the following examples.
The invention relates to a ship dynamic positioning control method based on an inverse system and an internal model control algorithm, which adopts an alpha-order inverse system principle to carry out feedback linearization on a coupled nonlinear ship motion mathematical model to obtain a pseudo linear system; controlling a pseudo linear system by adopting a double closed loop inner mold control method; the method comprises the following specific steps:
1) establishing ship motion model
According to the university of Guangdong industry oceanic laboratory test vessel, one ship was loaded with 26: the 1-reduced 2.8m supply ship is a control object, and the model of the ship in still water under low frequency is as follows:
wherein,Xu＝-46.4,Yv＝-257, Nr＝-206
where m is the ship mass, IZIs the moment of inertia, xGIs the x-axis coordinate value of the gravity center of the ship in a ship-associated coordinate system,respectively represents the additional mass of hydrodynamic force caused by respective acceleration in three degrees of freedom of surging, swaying and yawing,representing the additional mass due to the yaw heel yaw coupling effect. Xu、Yv、Yr、Nv、NrRespectively representing the hydrodynamic linear damping coefficient of the ship in each motion direction. Fu、Fv、FrTransverse and longitudinal forces and torques, respectively.
2) Pseudo linear system design for ships
According to the ship model, the actual ship motion input signal is Fu,Fv,FrThe output signals are u, v, r. Constructing a first order inverse system of a vessel's actual system with input signals ofThe output signal is Fu,Fv,Fr. Forming a pseudo-linear system G after the re-checking of the real system and the inverse system1. By this feedback linearization, the yaw and yaw are decoupled, i.e.
3) Inner ring (speed ring) inner model controller design
Neglecting propeller saturation problem, pseudo linear system G1Approximating a first-order integration element and its system modelIs composed of
Inner ring IMC controller GIMC(s) the following:
wherein f is1(s) is a velocity loop IMC filter; and a and b are parameters of the inner ring controller.
4) Reference model calculation for speed loop control system
Neglecting pseudo-linear systems G1And system modelThe speed loop control system Δ input to output relationship is as follows:
obtaining a reference model (2.6) formula of the speed loop control system delta,
wherein u, v and r are respectively the ship surging speed, the ship surging speed and the ship yawing speed, ug,vg,rgGiven control signals of the speed loop for three degrees of freedom of the IMC filter fu(s),fv(s),fr(s) setting the type as f1(s)。
5) Inner model controller design of outer ring (position ring)
The speed loop control system delta becomes a controlled system G of a position loop through an integral link2. Reference model for a controlled system of a position loopNamely:
obtaining an outer ring IMC controller GIMC(s) the following:
wherein f is1(s) is a velocity loop IMC filter; and m, n and c are parameters of the outer loop controller.
IMC filter f with position loop for three degrees of freedomu(s),fv(s),fr(s) setting the type as f2(s) type.
6) Adding coordinate system transformations
And a coordinate system conversion link is added, which does not influence the arrangement of the inner ring controller and the outer ring controller.
7) Adjusting inner and outer loop controller parameters
And designing parameters represented by a, b, m, n and c according to the actual debugging condition.
By analyzing MATLAB simulation curves and data, the system can overcome the problems of uncertain ship nonlinear model models, saturated control quantity and the like under the ship control action based on an inverse system and an internal model control algorithm, can quickly track expected positions, and is small in tracking response error and high in positioning precision.
The above is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept fall within the scope of the present invention.
Claims (8)
1. A ship dynamic positioning control method based on an inverse system and internal model control is characterized by comprising the following steps:
1) establishing a mathematical model of a ship motion system;
2) constructing a pseudo-linear system about a vessel;
3) designing an inner mold controller of an inner ring;
4) calculating a reference model of the speed loop control system;
5) designing an inner model controller of an outer ring;
6) adding coordinate system conversion;
7) designing parameters of an inner ring controller;
8) designing parameters of an outer ring controller;
the specific method for designing the inner-ring inner-mode controller in the step 3) is as follows: for pseudo linear system G1Performing internal model control according to pseudo linear system G1Obtaining a pseudo-linear system model according to the design principle of the internal model controllerAnd inner loop IMC controller GIMC(s) is represented by the formula (1.1),
where f(s) is a velocity loop IMC filter,is the minimum phase part of the controlled system model;
the specific method for calculating the reference model of the speed loop control system in the step 4) comprises the following steps: according to the model structure of the inner ring control system, the input-output relationship is
Wherein Y(s), R(s) are input and output of the system, Gp(s),Respectively controlling a system and a controlled system model;
ignore Gp(s),Obtaining a reference model (1.3) formula of the speed loop control system delta,
wherein u, v and r are respectively the ship surging speed, the ship surging speed and the ship yawing speed, ug,vg,rgRespectively given control signals, f, of the speed loopu(s),fv(s),fr(s) IMC filters for three degrees of freedom for the velocity loop, respectively.
2. The vessel dynamic positioning control method based on the inverse system and the internal model control as claimed in claim 1, wherein the specific method for establishing the vessel motion system mathematical model in the step 1) is: and establishing a kinematic model of three degrees of freedom of ship swaying, surging and yawing.
3. The method of claim 1, wherein the step 2) of constructing the pseudo-linear system of the vessel comprises obtaining a α -order inverse system Π of an actual motion system Σ of the vessel according to a construction principle of α -order inverse system, and combining the system Σ and the system Π in series to form a pseudo-linear system G1Thus, the α -order inverse system is constructed to realize the linearization and decoupling of the actual motion system Σ of the ship.
4. The vessel dynamic positioning control method based on inverse system and internal model control as claimed in claim 1, wherein the inner ring of the above step 3) is a speed ring.
5. The vessel dynamic positioning control method based on inverse system and internal model control as claimed in claim 1, wherein the outer ring of the above step 5) is a position ring.
6. The vessel dynamic positioning control method based on inverse system and internal model control according to claim 1, wherein the specific method for designing the internal model controller of the outer ring in the step 5) is as follows: according to the controlled system G2And obtaining a controlled system model according to an internal model control principle, and designing an outer ring IMC controller GIMC(s) controlled System G at this time2Based on an inner ring control system, an integral link is added and is related to an adding position of coordinate conversion.
7. The vessel dynamic positioning control method based on inverse system and internal model control as claimed in claim 1, wherein the specific method of adding coordinate system transformation in step 6) is: the position and the attitude of the ship in an inertial coordinate system are controlled by the ship position controller, the motion characteristics of the ship under ship-associated coordinates are controlled and detected by the speed loop, a coordinate conversion link is required to be added when the position of the ship is controlled in actual motion, the coordinate conversion expression of the inertial coordinate system and the ship-associated coordinate system is shown as (1.4),
whereinIs the two-dimensional speed of the ship in the x and y directions under the inertial coordinate system,is the angular velocity of the vessel in the inertial coordinate system,the corner direction of the ship under an inertial coordinate system, and u, v and r are the ship surging speed, the ship surging speed and the bow angular velocity along with the ship coordinate system;
two adding modes are selected for coordinate conversion, 1) a coordinate conversion link is placed outside a position ring: under the inertial coordinate, comparing the set position signal with the current position, and performing coordinate conversion on the deviation of the set position signal to obtain a ship-associated position signal as a position ring control signal; 2) the coordinate conversion link is placed outside the speed ring: the inertial coordinate signal is used as a position ring control signal, and the output signal of the position ring is used as a speed ring control signal after coordinate conversion;
position ring controlled system G under two forms2Reference model ofThe ratio of the sum of the two, i.e. (1.5),
so the design of the position ring controller is not influenced.
8. The vessel dynamic positioning control method based on inverse system and internal model control according to any one of claims 1 to 7, wherein the specific method for designing parameters of the internal ring controller in the step 7) is as follows: limiting adjustment is realized according to the index requirement of the speed ring and the thrust; the specific method for designing the parameters of the outer ring controller in the step 8) is as follows: and adjusting according to the index requirement of the position ring and the performance limit of the speed ring.
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