CN110435813B - Manual operating lever adjusting method based on dynamic positioning system - Google Patents
Manual operating lever adjusting method based on dynamic positioning system Download PDFInfo
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Abstract
The invention relates to a manual operating lever adjusting method based on a dynamic positioning system, which is technically characterized in that: the method comprises the following steps: step 1, before the dynamic positioning manual operating lever is used, basic adjustment and calibration of the manual operating lever are needed; step 2, before the dynamic positioning manual operating lever is used, intelligent adjustment and calibration of the manual operating lever are required, and a customized input-output response curve of the manual operating lever is generated; step 3, when the dynamic positioning system works, performing basic adjustment and calculation of the manual operating lever in real time; and 4, when the dynamic positioning system works, intelligently adjusting and resolving the manual operating lever in real time, and finally outputting the transverse, longitudinal and heading three-dimensional control forces. The invention realizes the customized design of the input and output characteristics of the manual operating lever through the intelligent adjustment design, meets the control requirements of the dynamic positioning system in different ships and different operation tasks, and has very high practical value.
Description
Technical Field
The invention belongs to the technical field of ship dynamic positioning, and particularly relates to a manual operating lever adjusting method of a ship dynamic positioning system.
Background
With the continuous development of the ocean by human beings, the traditional anchoring and positioning system cannot meet the operation requirement of deep sea water areas. The dynamic positioning system can resist the interference of the marine environment by using the propeller of the ship, realizes the maintenance of the position and the heading of the ship, has the advantages of high positioning precision, strong maneuverability, no limitation of the depth of the sea area and the like, and is one of necessary guarantee equipment of deep sea operation equipment.
A manual operating lever of a dynamic positioning system is one of the most important, most direct and most frequently used man-machine interaction devices of the dynamic positioning system. An operator can provide 3-dimensional position input (percentage) of transverse X, longitudinal Y and heading N for the dynamic positioning system by moving the manual operating lever, the input can be converted into a 3-dimensional thrust instruction (percentage) of the controller through basic adjustment and intelligent adjustment and calculation of the manual operating lever, then the controller performs thrust distribution and feedback control, and finally the ship realizes position and attitude control according to an expected instruction.
The manual operating lever adjustment is an important link for ensuring the input accuracy and flexibility of the manual operating lever, the input information is the 3-axis original position (percentage) of the manual operating lever, and the output is the whole ship thrust instruction (percentage). The manual operating lever adjustment comprises two parts, namely manual operating lever base adjustment and manual operating lever intelligent adjustment. Various deviations input by the manual operating lever can be corrected through basic adjustment of the manual operating lever, and the reliability and the accuracy of instruction input are ensured; meanwhile, the input and output characteristics of the manual operating lever can be customized through intelligent adjustment and calibration of the manual operating lever, physical quantity response outputs of different scenes are obtained, and the control requirements of different ships and different operation tasks are met.
Through search, in the patent application with the publication number CN105416550A and the name "a dynamic positioning control panel interactive system", the control panel interactive system includes a manual control lever processing module, but the patent application only describes the manual control lever module in terms of hardware, does not describe the conversion process and algorithm of the manual control lever to realize the position information and the thrust information, and does not relate to the intelligent adjustment and calibration of customized input and output characteristics.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for adjusting a manual operating lever of a ship dynamic positioning system, which can eliminate the mechanical deviation of the manual operating lever of the dynamic positioning system, realize the customized design of the input and output characteristics of the manual operating lever and meet the control requirements of different ships and different operation tasks.
The invention solves the practical problem by adopting the following technical scheme:
a manual operating lever adjusting method based on a dynamic positioning system comprises the following steps:
step 1, before the dynamic positioning manual operating lever is used, basic adjustment and calibration of the manual operating lever are needed;
step 2, before the dynamic positioning manual operating lever is used, intelligent adjustment and calibration of the manual operating lever are required, and a customized input-output response curve of the manual operating lever is generated;
step 3, when the dynamic positioning system works, performing basic adjustment and calculation of the manual operating lever in real time;
and 4, when the dynamic positioning system works, intelligently adjusting and resolving the manual operating lever in real time, and finally outputting the transverse, longitudinal and heading three-dimensional control forces.
Moreover, the basic calibration items of the step 1 include three dimensions of horizontal, longitudinal and heading, each dimension relates to four items of minimum value, zero position, maximum value and dead zone, twelve calibration values are counted, and all the calibration values adopt percentage form;
the specific steps of the step 1 comprise:
(1) moving the hand operating lever to a mechanical zero position of the hand operating lever, recording original position information acquired at the moment, and completing the calibration of three-axis zero position adjustment;
(2) moving the hand lever to reach the maximum positive positions in the transverse direction, the longitudinal direction and the heading direction, recording the original position information acquired at the moment, moving the hand lever to reach the maximum negative positions in the transverse direction, the longitudinal direction and the heading direction, and recording the original position information acquired at the moment;
(3) and (3) automatically setting the calibration value of the three-axis dead zone adjustment at (0, 10).
Further, the specific steps of step 2 include:
(1) establishing a manual operating lever input and output rectangular coordinate system, and inputting two reversing points A (X) in the rectangular coordinate system by an operator through a mouse or a touch screenA,YA)、B(XB,YB)；
(2) And (3) checking an input reversing point: (X)A-XB)*(YA-YB) > 0, thereby ensuring monotonic increase of the custom curve;
(3) according to the origin O (0,0) and the commutation point A (X)A,YA)、B(XB,YB) Endpoint E (100, 10)0) Four-point coordinates are obtained, linear equations OA, AB and BE are obtained, and the lengths of the line segments OA, AB and BE are calculated;
(4) 1/3 with small lengths OA and AB are taken, and A is cut at the near A ends of line segments OA and AB respectively1、A2Two points are used for solving the coordinates of the two points;
(5) respectively passing through A1、A2Two points are perpendicular lines of OA and AB and intersect at a point O1And calculating the coordinates;
(6) to obtain O1As the center of a circle, A1O1Equation of a circle of radius, i.e. arc A1A2A curve equation for the segment;
(7) the same method as in the above steps (4), (5) and (6) is used to obtain O2As a center of circle, O2B1Equation of a circle of radius, i.e. arc B1B2A curve equation for the segment;
(8) this gives the "straight line segment OA1Arc A1A2Straight line segment A2B1Arc B1B2Straight line segment B2E' piecewise curve equation.
The basic calibration calculation of step 3 includes the specific steps of:
(1) comparing the current original position of the hand-operated lever with the original position of the previous hand-operated lever, and determining whether the dead zone threshold value is exceeded: if the threshold value is exceeded, the valid input is obtained; if the threshold value is not exceeded, the manual operating lever is not operated in the direction or only slightly shakes in an unmanned mode;
(2) comparing the original position of the current manual operating lever with the zero calibration value, and determining whether the manual operating lever is in a positive half area or a negative half area;
(3) and (4) performing interpolation calculation to calculate the position information after the manual operating lever base is adjusted.
Moreover, the specific steps of the intelligent tuning calculation of step 4 include:
(1) acquiring position information after basic adjustment;
(2) comparing the position information X after basic adjustment with O, A1、A2、B1、B2E, the abscissa of each point: if X is 0. ltoreq. X.ltoreq.X (A)1) Bringing X into the linear section OA1Equation, solving thrust output; if X (A)1)＜X＜X(A2) Bringing X into arc A1A2Equation, solving thrust output; if X (A)2)≤X≤X(B1) Bringing X into the straight line segment A2B1Equation, solving thrust output; if X (B)1)＜X＜X(B2) Bringing X into arc B1B2Equation, solving thrust output; if X (B)2) X is not less than 100 and is brought into the straight line segment B2And E, solving the thrust output by an equation.
The invention has the advantages and beneficial effects that:
1. the manual operating lever adjusting method comprises two modules of basic adjusting and intelligent adjusting: through the basic adjustment of the manual operating lever, the problems of dead zone, zero drift, extreme value drift and the like of the manual operating lever of the power positioning system are solved, various deviations input by the manual operating lever are corrected, and the reliability and the accuracy of instruction input are ensured; through the intelligent adjustment design, the customized design of the input and output characteristics of the manual operating lever is realized, the control requirements of the dynamic positioning system in different ships and different operation tasks are met, and the intelligent adjustment design has high practical value.
2. The invention eliminates the potential errors of zero drift, extreme value drift, dead zone jitter and the like of the original position information (percentage) of the manual operating lever through basic adjustment and calibration, and ensures the reliability and accuracy of instruction input.
3. The invention customizes the input and output characteristics of the manual operating lever through intelligent adjustment, can quickly adjust the response characteristics of the manual operating lever under the conditions of different ships and different operation tasks, and meets the ship control requirements of different working conditions.
Drawings
FIG. 1 is a process flow diagram of the present invention;
FIG. 2 is a schematic diagram of the joystick customized input-output response curve generation of the present invention;
FIG. 3 is a process flow diagram of step 2 of the present invention;
FIG. 4 is a process flow diagram of step 3 of the present invention;
FIG. 5 is a pictorial view of a hand lever of the dynamic positioning system of the present invention.
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
a method for adjusting a manual lever based on a dynamic positioning system, as shown in fig. 1, includes the following steps:
step 1, before the dynamic positioning manual operating lever is used, basic adjustment and calibration of the manual operating lever are needed;
in this embodiment, the basic calibration items in step 1 include three dimensions of a horizontal dimension, a longitudinal dimension and a heading, each dimension relates to four contents of a minimum value, a zero position, a maximum value and a dead zone, twelve calibration values are counted, and all the calibration values all adopt a percentage form.
The specific steps of the step 1 comprise:
(1) and moving the hand operating lever to a mechanical zero position (three dimensions of transverse dimension, longitudinal dimension and heading dimension are all in the mechanical zero position), recording the original position information acquired at the moment, and completing the calibration of three-axis zero position adjustment.
(2) And moving the hand lever to reach the maximum positive positions in the transverse direction, the longitudinal direction and the heading direction, recording the acquired original position information, moving the hand lever to reach the maximum negative positions in the transverse direction, the longitudinal direction and the heading direction, and recording the acquired original position information.
(3) The calibration value of the three-axis dead zone adjustment can be set independently at (0, 10).
Step 2, before the dynamic positioning hand operating lever is used, intelligent adjustment and calibration of the hand operating lever are required, and a customized input-output response curve of the hand operating lever is generated, as shown in fig. 2.
In this embodiment, as shown in fig. 3, the specific steps of step 2 include:
(1) establishing a manual operating lever input and output rectangular coordinate system, and inputting two reversing points A (X) in the rectangular coordinate system by an operator through a mouse or a touch screenA,YA)、B(XB,YB)；
(2) Perform input conversionChecking to the point: (X)A-XB)*(YA-YB) > 0, thereby ensuring monotonic increase of the custom curve;
(3) according to the origin O (0,0) and the commutation point A (X)A,YA)、B(XB,YB) And the coordinates of four points of the end point E (100 ) to obtain linear equations OA, AB and BE and calculate the lengths of the line segments OA, AB and BE;
(4) 1/3 with small lengths OA and AB are taken, and A is cut at the near A ends of line segments OA and AB respectively1、A2Two points are used for solving the coordinates of the two points;
(5) respectively passing through A1、A2Two points are perpendicular lines of OA and AB and intersect at a point O1And calculating the coordinates;
(6) to obtain O1As the center of a circle, A1O1Equation of a circle of radius, i.e. arc A1A2A curve equation for the segment;
(7) the same method as in the above steps (4), (5) and (6) is used to obtain O2As a center of circle, O2B1Equation of a circle of radius, i.e. arc B1B2A curve equation for the segment;
(8) this gives the "straight line segment OA1Arc A1A2Straight line segment A2B1Arc B1B2Straight line segment B2E' piecewise curve equation.
It should BE noted that if the straight line segments OA and AB are exactly collinear (or the straight line segments AB and BE are exactly collinear) in the generation of the customized I/O curves, their transition arcs A do not need to BE calculated1A2(or arc line B)1B2) It is used.
Step 3, when the dynamic positioning system works, performing basic adjustment and calculation of the manual operating lever in real time;
in this embodiment, the specific step of the basic calibration calculation in step 3 includes:
(1) comparing the current joystick home position (percentage) with the last joystick home position (percentage) to determine if a dead band threshold has been exceeded: if the threshold value is exceeded, the valid input is obtained; if the threshold value is not exceeded, the manual operating lever is not operated in the direction or only slightly shakes in an unmanned mode;
(2) comparing the original position of the current manual operating lever with the zero calibration value, and determining whether the manual operating lever is in a positive half area or a negative half area;
(3) and (4) performing interpolation calculation to calculate the position information after the manual operating lever base is adjusted.
In this embodiment, taking the calculation of the lateral X-axis data as an example, the calculation steps of the hand lever basic adjustment are shown in fig. 4.
And 4, when the dynamic positioning system works, intelligently adjusting and resolving the manual operating lever in real time, and finally outputting the transverse, longitudinal and heading three-dimensional control forces.
In this embodiment, the specific steps of the intelligent tuning calculation in step 4 include:
(1) acquiring position information after basic adjustment;
(2) comparing the position information X after basic adjustment with O, A1、A2、B1、B2E, the abscissa of each point: if X is 0. ltoreq. X.ltoreq.X (A)1) Bringing X into the linear section OA1Equation, solving thrust output; if X (A)1)＜X＜X(A2) Bringing X into arc A1A2Equation, solving thrust output; if X (A)2)≤X≤X(B1) Bringing X into the straight line segment A2B1Equation, solving thrust output; if X (B)1)＜X＜X(B2) Bringing X into arc B1B2Equation, solving thrust output; if X (B)2) X is not less than 100 and is brought into the straight line segment B2And E, solving the thrust output by an equation.
The dynamic positioning system hand lever, as shown in fig. 5, is one of the most important, most direct, and most frequently used human-computer interaction devices of the dynamic positioning system. An operator can provide 3-dimensional position input (percentage) of transverse X, longitudinal Y and heading N for the dynamic positioning system by moving the manual operating lever, the input can be converted into a 3-dimensional thrust instruction (percentage) of the controller through basic adjustment and intelligent adjustment and calculation of the manual operating lever, then the controller performs thrust distribution and feedback control, and finally the ship realizes position and attitude control according to an expected instruction.
The working principle of the invention is as follows: in a calibration link before the manual operating lever is used, through a calibration link of basic calibration, minimum value, zero position, maximum value and dead zone information of the manual operating lever are prestored, and through a calibration link of intelligent calibration, an input-output response curve of the manual operating lever is customized; when the manual operating lever works, the basic adjustment calculation eliminates zero position, dead zone and extreme value deviation on the basis of the calibration value, ensures the reliability and accuracy of the instruction input of the manual operating lever, and the intelligent adjustment calculation converts the position input of the manual operating lever into thrust output according to the customized response curve, thereby meeting the requirements of ship operation under different working conditions.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, those examples described in this detailed description, as well as other embodiments that can be derived from the teachings of the present invention by those skilled in the art and that are within the scope of the present invention.
Claims (4)
1. A manual operating lever adjusting method based on a dynamic positioning system is characterized in that: the method comprises the following steps:
step 1, before the dynamic positioning manual operating lever is used, basic adjustment and calibration of the manual operating lever are needed;
step 2, before the dynamic positioning manual operating lever is used, intelligent adjustment and calibration of the manual operating lever are required, and a customized input-output response curve of the manual operating lever is generated;
step 3, when the dynamic positioning system works, performing basic adjustment and calculation of the manual operating lever in real time;
step 4, when the dynamic positioning system works, intelligent adjustment and calculation of the manual operating lever are carried out in real time, and finally, transverse, longitudinal and heading three-dimensional control forces are output;
the specific steps of the step 2 comprise:
(1) establishing a manual operating lever input and output rectangular coordinate system, and inputting two reversing points A (X) in the rectangular coordinate system by an operator through a mouse or a touch screenA,YA)、B(XB,YB)；
(2) And (3) checking an input reversing point: (X)A-XB)*(YA-YB) > 0, thereby ensuring monotonic increase of the custom curve;
(3) according to the origin O (0,0) and the commutation point A (X)A,YA)、B(XB,YB) And the coordinates of four points of the end point E (100 ) to obtain linear equations OA, AB and BE and calculate the lengths of the line segments OA, AB and BE;
(4) 1/3 with small lengths OA and AB are taken, and A is cut at the near A ends of line segments OA and AB respectively1、A2Two points are used for solving the coordinates of the two points;
(5) respectively passing through A1、A2Two points are perpendicular lines of OA and AB and intersect at a point O1And calculating the coordinates;
(6) to obtain O1As the center of a circle, A1O1Equation of a circle of radius, i.e. arc A1A2A curve equation for the segment;
(7) the same method as in the above steps (4), (5) and (6) is used to obtain O2As a center of circle, O2B1Equation of a circle of radius, i.e. arc B1B2A curve equation for the segment;
(8) this gives the "straight line segment OA1Arc A1A2Straight line segment A2B1Arc B1B2Straight line segment B2E' piecewise curve equation.
2. The hand lever adjusting method based on the dynamic positioning system as claimed in claim 1, characterized in that: the basic calibration and calibration items of the step 1 comprise three dimensions of transverse dimension, longitudinal dimension and heading, each dimension relates to four items of minimum value, zero position, maximum value and dead zone, twelve calibration values are counted, and all the calibration values adopt percentage form;
the specific steps of the step 1 comprise:
(1) moving the hand operating lever to a mechanical zero position of the hand operating lever, recording original position information acquired at the moment, and completing the calibration of three-axis zero position adjustment;
(2) moving the hand lever to reach the maximum positive positions in the transverse direction, the longitudinal direction and the heading direction, recording the original position information acquired at the moment, moving the hand lever to reach the maximum negative positions in the transverse direction, the longitudinal direction and the heading direction, and recording the original position information acquired at the moment;
(3) and (3) automatically setting the calibration value of the three-axis dead zone adjustment at (0, 10).
3. The hand lever adjusting method based on the dynamic positioning system as claimed in claim 1, characterized in that: the specific steps of the basic calibration calculation in step 3 include:
(1) comparing the current original position of the hand-operated lever with the original position of the previous hand-operated lever, and determining whether the dead zone threshold value is exceeded: if the threshold value is exceeded, the valid input is obtained; if the threshold value is not exceeded, the manual operating lever is not operated in the direction or only slightly shakes in an unmanned mode;
(2) comparing the original position of the current manual operating lever with the zero calibration value, and determining whether the manual operating lever is in a positive half area or a negative half area;
(3) and (4) performing interpolation calculation to calculate the position information after the manual operating lever base is adjusted.
4. The hand lever adjusting method based on the dynamic positioning system as claimed in claim 1, characterized in that: the specific steps of the intelligent tuning calculation of the step 4 include:
(1) acquiring position information after basic adjustment;
(2) comparing the position information X after basic adjustment with O, A1、A2、B1、B2E, the abscissa of each point: if X is 0. ltoreq. X.ltoreq.X (A)1) Bringing X into the linear section OA1Equation, solving thrust output; if X (A)1)＜X＜X(A2) Bringing X into arc A1A2Equation, solving thrust output; if X (A)2)≤X≤X(B1) Bringing X into the straight line segment A2B1Equation, solving thrust output; if X (B)1)＜X＜X(B2) Will beX brings into arc line B1B2Equation, solving thrust output; if X (B)2) X is not less than 100 and is brought into the straight line segment B2And E, solving the thrust output by an equation.
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| US8296024B2 (en) * | 2010-06-18 | 2012-10-23 | Caterpillar Inc. | Calibrating transmission motor torque |
| CN103941885B (en) * | 2014-03-21 | 2018-05-11 | 洛阳师范学院 | A kind of control stick based on inertia measurement |
| CN105416550B (en) * | 2015-09-24 | 2017-10-03 | 哈尔滨工程大学 | A kind of dynamic positioning control panel man-machine interactive system |
| CN107385701B (en) * | 2017-08-17 | 2019-10-18 | 浙江众邦机电科技有限公司 | Governor gear automatic calibrating method, system, device and controlling terminal |
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