CN106950942A - A kind of analysis method for reliability of 3 grades of power-positioning control systems of DP - Google Patents
A kind of analysis method for reliability of 3 grades of power-positioning control systems of DP Download PDFInfo
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- CN106950942A CN106950942A CN201710250498.0A CN201710250498A CN106950942A CN 106950942 A CN106950942 A CN 106950942A CN 201710250498 A CN201710250498 A CN 201710250498A CN 106950942 A CN106950942 A CN 106950942A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention discloses a kind of analysis method for reliability of 3 grades of power-positioning control systems of DP, comprise the following steps：S1：The dynamic positioning redundancy control system is decomposed with being simplified, the power-positioning control system is divided into master control subsystem and standby control subsystem；S2：By obtaining the fault rate of master control subsystem to the progress fail-safe analysis of master control subsystem；S3：By obtaining the fault rate of standby control subsystem to the progress fail-safe analysis of standby control subsystem；S4：Fail-safe analysis is carried out to redundancy control system according to the fault rate of the fault rate of master control subsystem and standby control subsystem, to obtain the fault rate of whole dynamic positioning redundancy control system.The analysis method for reliability of the present invention need not obtain all quantity of states of whole dynamic positioning redundancy control system, and using subsystem as independent fail-safe analysis unit, reduce the system mode quantity for needing to consider, save the amount of calculation of fail-safe analysis.
Description
Technical field
The invention belongs to Naval Architecture and Ocean Engineering field, more particularly to a kind of reliability of DP-3 grades of power-positioning control system
Property analysis method.
Background technology
Dynamic positioning technology is that a ship resists extraneous ocean ring with ocean platform by the thruster system of itself
The automatic control technology of border loading effect, is exploratory engineering of off-shore petroleum/gas reservoir and its essential support technology of less important work.With sea
Upper job that requires special skills is constantly expanded to blue water, and the reliability to dynamic positioning system proposes higher requirement, traditional list
One controller architecture can not meet the security requirement of deep-sea uninterrupted operation for a long time, be this International Maritime Organization and each
Related specifications requirement has been done respectively to the redundancy of dynamic positioning system by big classification society.
It is special and analysis and prediction of the lifting of dynamic positioning system degree of redundancy also to whole system reliability bring difficulty
Not for the higher dynamic positioning system of degree of redundancy.Literature search result shows, although on power positioning control method
There are many open reports, but for the also rarely found public affairs of Reliability Analysis Research of DP-2 grades, DP-3 grades power-positioning control systems
The report opened.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of DP-3 grades of power-positioning control system
Analysis method for reliability, it can solve the technical problem of the fail-safe analysis of power-positioning control system.
The purpose of the present invention is realized using following technical scheme：
A kind of analysis method for reliability of DP-3 grades of power-positioning control system, comprises the following steps：
S1：The dynamic positioning redundancy control system is simplified, redundancy control system is divided into master control subsystem
With standby control subsystem；
S2：By obtaining the fault rate of master control subsystem to the progress fail-safe analysis of master control subsystem；
S3：By obtaining the fault rate of standby control subsystem to the progress fail-safe analysis of standby control subsystem；
S4：According to the fault rate of the fault rate of master control subsystem and standby control subsystem to the Redundant Control system
System carries out fail-safe analysis, to obtain the fault rate of the dynamic positioning redundancy control system.
It is preferred that, the fail-safe analysis in described step S2, S3 and S4 is Markov approach.
It is preferred that, the segmentation logic is the fire prevention physical isolation required by DP-3 grades of additional marks.
It is preferred that, the step S2 specifically includes following sub-step：
S21：Determine the part and number corresponding with part of master control subsystem；
S22：Set up the state transfer relationship of master control subsystem；
S23：Mathematical modeling is carried out by fail-safe analysis to the state transfer relationship of master control subsystem to solve to obtain
The fault rate of master control subsystem.
It is preferred that, the step S3 specifically includes following sub-step：
S31：Determine the part and number corresponding with part of standby control subsystem；
S32：Set up the state transfer relationship of standby control subsystem；
S33：Mathematical modeling is carried out by fail-safe analysis to the state transfer relationship of standby control subsystem to solve to obtain
To the fault rate of standby control subsystem.
It is preferred that, the step S4 specifically includes following sub-step：
S41：Set up the state transfer relationship of power-positioning control system；
S42：Mathematics is carried out according to fail-safe analysis to the state transfer relationship of required dynamic positioning redundancy control system to ask
Solution is to obtain the fault rate of whole dynamic positioning redundancy control system.
Compared with prior art, the beneficial effects of the present invention are：
The analysis method for reliability of the present invention need not obtain all quantity of states of dynamic positioning redundancy control system, but will
Subsystem greatly reduces the system mode quantity for needing to consider, has saved reliability as independent fail-safe analysis unit
The amount of calculation of analysis.
Brief description of the drawings
Fig. 1 is the structure chart of dynamic positioning redundancy control system；
Fig. 2 is the flow chart of the analysis method for reliability of the DP-3 level power-positioning control systems of the present invention；
Fig. 3 shifts schematic diagram for the state of the master control subsystem of the present invention；
Fig. 4 shifts schematic diagram for the state of the standby control subsystem of the present invention；
Fig. 5 shifts schematic diagram for the state of the dynamic positioning redundancy control system of the present invention.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further：
It is the structure chart of dynamic positioning redundancy control system as shown in Figure 1, the redundancy control system includes main control subsystem
System and standby control subsystem, the master control subsystem used in the embodiment cited by the present invention is by the aobvious control of three identicals
Platform and three identical controllers composition, standby control subsystem are made up of an indication control board and controller, and indication control board with
Ethernet between controller also by dual redundant carries out real-time communication.
As shown in Fig. 2 the invention provides a kind of analysis method for reliability of DP-3 grades of power-positioning control system, it should
For in such as above-mentioned power-positioning control system, it to comprise the following steps：
S1：The dynamic positioning redundancy control system is decomposed with being simplified, redundancy control system is divided into main control
Subsystem and standby control subsystem；Because power-positioning control system is redundancy control system, so need first to the redundancy
Control system is simplified, and corresponding control is implemented with unification platform controller by an indication control board of master control system, when
When wherein certain indication control board or controller break down, can automatic or manual be switched to other one normal indication control board or control
Computer, when master control subsystem is entirely ineffective, standby control subsystem can take over control, it is ensured that whole system is uninterrupted
Operation；So it is that logical partitioning is carried out based on the above feature when System Partition is carried out；
But the decomposition standard of the system is not certain fixed form, can according to the functional characteristics of real system with
Operation characteristic rationally sets segmentation logic, and it is mainly for the purpose of simplifying systems reliability analysis process.
S2：By obtaining the fault rate of master control subsystem to the progress fail-safe analysis of master control subsystem；The step
Rapid S2 specifically includes following sub-step：
S21：Determine the part and number corresponding with part of master control subsystem；
S22：Set up the state transfer relationship of master control subsystem；
S23：Mathematical modeling is carried out by fail-safe analysis to the state transfer relationship of master control subsystem to solve to obtain
The fault rate of master control subsystem；As shown in figure 3, master control subsystem has 9 system modes.Assuming that system is in any a period of time
Carve, only one of which component malfunction, indication control board or real-time computer more than two will not break down simultaneously.Thus, main
Control subsystem possesses secondary failure-service ability, until only remaining an indication control board or a real-time control computer normal
During operation, master control subsystem is entirely ineffective.Indication control board normal condition is represented with O, C represents real-time computer normal condition, X tables
Show indication control board or real-time computer failure state.When the t=0 moment, system is in the indication control board of serviceable condition, i.e., three and triple redundance
Control computer is normal, is designated state 0 (OOOCCC).The fault rate of indication control board is expressed as a, and the fault rate of controller is represented
For b, when the failure of separate unit indication control board occurs in master control system, the state of system is changed into state n (OOXCCC), 0<n<9；Work as master control
When the failure of separate unit control computer occurs in system processed, the state of system is changed into m (OOOCCX)；By that analogy, it can obtain shown in Fig. 3
Subsystem state transition graph.The failure state of system can be state OOOXXX, OOXXXX, OXXXXX, XXXCXX,
XXXCCX, XXXCCC, are designated state 9.Under corresponding analysis method for reliability, the event of master control subsystem can be calculated
Barrier rate c.
With PkRepresent that master control system is in state n probability, then reliability R (t) definable of the master control system in t
For：
R (t)=P0+P1+P2+P3+P4+P5+P6+P7+P8
The fault rate of master control system is：C=1-R (t)；
S3：By obtaining the fault rate of standby control subsystem to the progress fail-safe analysis of standby control subsystem；Institute
State step S3 and specifically include following sub-step：
S31：Determine the part and number corresponding with part of standby control subsystem；
S32：Set up the state transfer relationship of standby control subsystem；
S33：Mathematical modeling is carried out by fail-safe analysis to the state transfer relationship of standby control subsystem to solve to obtain
To the fault rate of standby control subsystem；Can be to exchange between step S2 and step S3 during whole implement,
Can be first to measuring the fault rate of standby control subsystem, then to measure the fault rate of master control subsystem；As shown in Figure 4.Only
Any indication control board or control computer is wanted to break down, standby control subsystem can fail, failure state can be designated OX or XC.
Using the same analysis method for reliability of same subsystem, the fault rate d of standby control subsystem can be calculated；
S4：It is superfluous to whole dynamic positioning according to the fault rate of the fault rate of master control subsystem and standby control subsystem
Remaining control system carries out fail-safe analysis, is specifically wrapped with obtaining step S4 described in the fault rate of the dynamic positioning redundancy control system
Include following sub-step：
S41：Set up the state transfer relationship of whole dynamic positioning redundancy control system；
S42：The state transfer relationship of the redundancy control system is carried out Mathematical to be moved according to fail-safe analysis
Power positions the fault rate of redundancy control system.Master control subsystem and standby control subsystem are obtained respectively in step 2, step 3
After the fault rate of system, the fault rates of whole DP-3 control systems can by Fig. 5, and combine step 2, the reliability that step 3 is used
Property analysis method can be tried to achieve finally.The analysis method for reliability in step S2, S3 and S4 in the present patent application is Ma Erke
Husband's model or analysis method.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (6)
1. a kind of analysis method for reliability of DP-3 grades of power-positioning control system, it is characterised in that comprise the following steps：
S1：Dynamic positioning redundancy control system is simplified, the redundancy control system is divided into master control subsystem and standby
Use control subsystem；
S2：By obtaining the fault rate of master control subsystem to the progress fail-safe analysis of master control subsystem；
S3：By obtaining the fault rate of standby control subsystem to the progress fail-safe analysis of standby control subsystem；
S4：The redundancy control system is entered according to the fault rate of the fault rate of master control subsystem and standby control subsystem
Row fail-safe analysis, to obtain the fault rate of the dynamic positioning redundancy control system.
2. the analysis method for reliability of DP-3 grades of power-positioning control system as claimed in claim 1, it is characterised in that described
Fail-safe analysis in step S2, S3 and S4 is Markov approach.
3. the analysis method for reliability of DP-3 grades of power-positioning control system as claimed in claim 1, it is characterised in that described
It is the A60 fire prevention physical isolations required by DP-3 grades of additional marks to split logic.
4. the analysis method for reliability of DP-3 grades of power-positioning control system as claimed in claim 1, it is characterised in that described
Step S2 specifically includes following sub-step：
S21：Determine the part and number corresponding with part of master control subsystem；
S22：Set up the state transfer relationship of master control subsystem；
S23：Mathematical modeling is carried out by fail-safe analysis to the state transfer relationship of master control subsystem to solve to obtain master control
The fault rate of subsystem.
5. the analysis method for reliability of DP-3 grades of power-positioning control system as claimed in claim 1, it is characterised in that described
Step S3 specifically includes following sub-step：
S31：Determine the part and number corresponding with part of standby control subsystem；
S32：Set up the state transfer relationship of standby control subsystem；
S33：The state transfer relationship progress mathematical modeling of standby control subsystem is solved by fail-safe analysis standby to obtain
With the fault rate of control subsystem.
6. the analysis method for reliability of DP-3 grades of power-positioning control system as claimed in claim 1, it is characterised in that described
Step S4 specifically includes following sub-step：
S41：Set up the state transfer relationship of whole dynamic positioning redundancy control system；
S42：According to fail-safe analysis the state transfer relationship of whole dynamic positioning redundancy control system is carried out Mathematical with
Obtain the fault rate of whole dynamic positioning redundancy control system.
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| CN201710250498.0A CN106950942A (en) | 2017-04-17 | 2017-04-17 | A kind of analysis method for reliability of 3 grades of power-positioning control systems of DP |
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| CN201710250498.0A CN106950942A (en) | 2017-04-17 | 2017-04-17 | A kind of analysis method for reliability of 3 grades of power-positioning control systems of DP |
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Citations (5)
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| CN102323757A (en) * | 2011-06-03 | 2012-01-18 | 哈尔滨工程大学 | Semi-physical simulation method for DP-3-level dynamic positioning |
| CN102929157A (en) * | 2012-11-15 | 2013-02-13 | 哈尔滨工程大学 | Triple-redundancy dynamic positioning control computer system for vessel |
| KR20140106945A (en) * | 2013-02-27 | 2014-09-04 | 대우조선해양 주식회사 | Simulation system and method for a dynamic positioning system education |
| CN104267606A (en) * | 2014-10-24 | 2015-01-07 | 大连海事大学 | Hardware-in-loop test simulator for dynamic positioning control system and operating method of test simulator |
| CN105334747A (en) * | 2015-09-24 | 2016-02-17 | 哈尔滨工程大学 | Ship dynamic positioning three-redundancy computer data voting synchronization method |
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2017
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|---|---|---|---|---|
| CN102323757A (en) * | 2011-06-03 | 2012-01-18 | 哈尔滨工程大学 | Semi-physical simulation method for DP-3-level dynamic positioning |
| CN102929157A (en) * | 2012-11-15 | 2013-02-13 | 哈尔滨工程大学 | Triple-redundancy dynamic positioning control computer system for vessel |
| KR20140106945A (en) * | 2013-02-27 | 2014-09-04 | 대우조선해양 주식회사 | Simulation system and method for a dynamic positioning system education |
| CN104267606A (en) * | 2014-10-24 | 2015-01-07 | 大连海事大学 | Hardware-in-loop test simulator for dynamic positioning control system and operating method of test simulator |
| CN105334747A (en) * | 2015-09-24 | 2016-02-17 | 哈尔滨工程大学 | Ship dynamic positioning three-redundancy computer data voting synchronization method |
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Application publication date: 20170714 |