CN116627043A - Regional power positioning control method of combined anchoring system - Google Patents
Regional power positioning control method of combined anchoring system Download PDFInfo
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Abstract
The invention relates to the technical field of ship motion control, in particular to a regional power positioning control method of a combined anchoring system, which comprises the following steps: calculating the horizontal mooring force of the cable and the vertical mooring force of the cable, and decomposing the horizontal mooring force of the cable to obtain the interference load of the cable to the ship; calculating the real-time environmental interference load of the ship; calculating high-precision control force of the still water working condition; calculating the optimal control force of the still water working condition area; calculating the real-time control resultant force of the dynamic positioning control system; and generating a control command of the ship executing mechanism by the real-time control resultant force, and driving the executing mechanism to generate thrust so as to keep the ship in an anchoring state in a preset position area. The method provided by the invention realizes the regional dynamic positioning control of the ship in the anchoring state, controls the ship in a safe region and ensures long-term offshore operation of the ship.
Description
Technical Field
The invention relates to the technical field of ship motion control, in particular to a regional power positioning control method of a combined anchoring system.
Background
Due to the task demands, some ships and ocean engineering platforms need to have the capability of offshore positioning control. At present, the positioning modes widely adopted mainly include two types: and the dynamic positioning system and the anchoring positioning system.
Dynamic positioning system: the sensing information such as the position, the attitude and the heading of the ship is received in real time, the required thrust is calculated by means of an automatic control algorithm, the environmental interference such as offshore wind, wave and current is automatically resisted, and the accurate control of the position and the heading of the ship is realized. Its advantages are high locating precision, high mobility, no limitation to water depth, and complex installation and maintenance, high cost and high energy consumption.
Anchoring positioning system: the environmental forces are counteracted mainly based on the back tension provided by the anchor lines, thereby limiting the drift of the vessel. The device has the advantages of simple structure, low cost and good safety, and has the defects of being only used in sea areas with shallow water depth and poor positioning accuracy.
When the ship platform performs long-term offshore operation, the ship platform is limited in a certain safety area without being precisely controlled at a position point from the aspects of actual operation requirements, energy consumption economy and the like. Generally, after the ship platform is anchored at the target position, soft control force is applied by means of the dynamic positioning system according to drift errors, so that the environment interference is overcome, the positioning precision is improved, the ship platform is controlled in a safe operation area set by a user, the advantages of the anchoring positioning system and the dynamic positioning system are complemented, the long-term regional operation requirement is met, and the ship platform has a wide application prospect.
Disclosure of Invention
The invention aims to solve the technical problem of providing a regional dynamic positioning control method of a combined anchoring system, which is used for forecasting the interference load of a mooring rope on a ship in real time based on the time-varying ship position; based on the dynamic positioning state observer, forecasting the interference load of the marine environment on the ship in real time; based on the dynamic positioning state controller, the optimal control of the positioning error is adopted, the optimal control of the still water working condition is realized, and the regional optimization idea is adopted for optimization; finally, on the basis of optimizing control force in a still water working condition area, feedforward compensation of cable interference load and environment interference load is carried out, and control resultant force is output, so that regional power positioning control of the ship in an anchor state is realized, the ship is controlled in a safe area, and long-term offshore operation of the ship is ensured.
The invention is realized by the following technical scheme:
a regional dynamic positioning control method of a combined anchoring system comprises the following steps:
s1: calculating horizontal mooring force of the cable and vertical mooring force of the cable according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the cable guiding hole, the position of the throwing anchor point and the height difference from the cable guiding hole to the anchoring point, and decomposing the horizontal mooring force of the cable under the ship body coordinate system to obtain the interference load of the cable to the ship;
s2: establishing a ship observer dynamic model containing an interference load item of a cable to a ship, and calculating the real-time environment interference load borne by the ship by adopting an extended Kalman filtering algorithm;
s3: establishing a dynamics model of the ship controller, and calculating high-precision control force of the still water working condition by adopting an optimal control algorithm;
s4: calculating the current position deviation of the ship according to the real-time motion position of the ship and the target position set by the user, and then carrying out regional optimization on the high-precision control force of the still water working condition according to the current position deviation of the ship to obtain the optimized control force of the still water working condition region;
s5: according to the optimal control force of the still water working condition area, feedforward compensation is respectively carried out on the interference load of the ship and the real-time environmental interference load received by the ship by the cable, and the real-time control resultant force of the dynamic positioning control system is calculated;
s6: and the thrust distribution module generates a control command of the ship executing mechanism from the real-time control resultant force of the dynamic positioning control system, and drives the executing mechanism to generate thrust so as to keep the ship in an anchoring state in a preset position area.
Further, in step S1, the disturbance load of the cable to the ship is calculated by adopting catenary theory, and the method includes the following steps:
d1: according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the anchor cable hole relative to the center of the ship and the anchoring point, calculating the position of the cable guiding hole under the geodetic coordinate system by adopting the formula (1), and then calculating the horizontal distance between the position of the cable guiding hole and the anchoring point by adopting the formula (2):
（1）；
（2）；
wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For the heading of the ship,/->For the longitudinal offset of the pilot hole relative to the centre of the vessel, < > for>For the lateral offset of the pilot hole relative to the centre of the vessel, < > for>Is the north position of the cable guide hole under the geodetic coordinate system, < >>Is the eastern position of the cable guiding hole under the geodetic coordinate system, < >>For guiding holes and throwing-anchor pointsHorizontal distance (I)>To represent the north position of the parabolic anchor under the geodetic coordinate system,to represent the east position of the throwing anchor point under the geodetic coordinate system;
d2: carrying out iterative computation on the formulas (3) and (4) until convergence conditions of the formulas (5) and (6) are met, stopping iteration, and obtaining horizontal mooring force of the cable and vertical mooring force of the cable;
（3）；
（4）；
（5）；
（6）；
wherein:for horizontal mooring force of the cable, +.>For the inclination angle of the top end of the cable->For vertical mooring force of the cable +.>Projection distance for vertical direction of cable, < >>Projection distance for horizontal direction of cable, < >>For the unit wet weight of the mooring line, +.>Is the distance convergence threshold value in the horizontal direction, +.>Is a distance convergence threshold in the vertical direction,the height difference from the cable guiding hole to the anchoring point is set;
d3: according to the horizontal mooring force of the cableDecomposing by adopting the method (7) to obtain the interference load +.f of the mooring rope to the ship under the ship body coordinate system>：
（7）；
Wherein:longitudinal tension on the vessel for the cable, +.>Transverse tension to the vessel for the mooring line, +.>The moment of the heading for the ship caused by the mooring line, < >>For cable interference load item->For the angle between the ship bow and the projection of the cable in the horizontal direction, < >>Transpose the matrix.
Further, the real-time environmental disturbance load in step S2The calculation of (1) comprises the following steps:
e1: establishing load items containing cable disturbancesThe vessel dynamics model of (2) is formula (8):
（8）；
wherein:is a north position, an east position and a heading state vector of the ship under the geodetic coordinate system,is the state vector of the heave speed, the sway speed and the bow swing angular speed of the ship under the ship coordinate system>For heave velocity>For the surging speed, < >>For yaw rate, +.>Is a coordinate transformation matrix of a north-east coordinate system and a ship body coordinate system, and +.>；/>Feedback for control of current actuatorForce of->For the longitudinal resultant force of the current actuator, +.>For the total transverse force of the current actuator, +.>For the moment of the heading sum of the current actuator, < >>Is the model noise amplitude of the motion state of the hull,a zero-mean unit Gaussian white noise three-dimensional vector; />Is an inertial matrix of the ship body,for real-time environmental disturbance load in the geodetic coordinate system, < +.>Is north ship environmental load under the geodetic coordinate system, +.>East ship environmental load under the geodetic coordinate system,/->For the environmental load of the ship in the heading under the geodetic coordinate system,/->An inertial time constant that is the environmental load of the hull; />The model noise amplitude of the environmental interference force is represented, and D is a ship damping matrix;
e2: establishing a dynamic positioning system measurement model as (9):
(9)；
wherein:representing the measured noise amplitude, +.>Is a noisy system actual measurement;
e3: combining the ship dynamics model of the step E1 and the dynamic positioning system measurement model of the step E2 to obtain a cable interference load item in the step S1A model of the dynamics of the marine vessel observer (10):
（10）；
converting the formula (10) into a standard state space form of an extended Kalman filtering algorithm to obtain a formula (11):
（11）；
wherein:is a nine-dimensional state variable; />The three-dimensional control input is used for representing the control feedback resultant force of the current actuating mechanism; />The three-dimensional control input is used for representing the interference load of the mooring rope to the ship; />Nine-dimensional system noise;/>is a nonlinear state transfer function; />Is an input coefficient matrix; />For observing matrix +.>Is a unit matrix; />Is a noise coefficient matrix;
e4: adopting an extended Kalman filtering algorithm to calculate and obtain a ship body motion position and a heading stateEnvironmental disturbance load->Hull speed and heading angular speedNine-dimensional state variable of the best estimate of (2)>Is used for the real-time best estimate of (a).
Further, in step S3, the force is controlled with high precision under the still water working conditionThe calculation of (1) comprises the following steps:
f1: establishing a ship dynamics model (12):
(12)；
f2: converting the ship dynamics model into a linear steady state space form (13):
（13）；
wherein:is a motion state vector of the ship body; />For the system matrix->For input matrix +.>For outputting matrix +.>Is a unit matrix;
f3: setting an optimized quadratic index formula (14), and calculating an optimized quadratic index according to formula (15)Obtaining the real-time still water working condition high-precision control force of minimum value +.>：
（14）；
（15）；
Wherein:algebraic equation for Riccati->Is the only positive solution of->To control the error penalty matrix, < >>Penalty matrix for energy consumption, < >>A hull position and heading command set for a user,characterizing a control error penalty term->An energy consumption penalty term characterizing the control process.
Further, in step S4, the control force is optimized in the still water working condition areaThe calculation of (1) comprises the following steps:
g1: calculating the current position deviation of the ship according to (16)：
（16）；
Wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For the set target north position of the ship, +.>The method comprises the steps of setting a ship target east position;
and G2: according to the current position deviation of the shipAnd (3) optimizing the control force of different strategies for the high-precision control force of the still water working condition in the step (S3), and obtaining the region optimization factors under different strategies according to the formula (17)；
（17）；
Wherein:early warning radius optimized for zoning, +.>Alarm radius optimized for zoning, +.>；/>A relaxation factor optimized for the zoning;
and G3: according to regional optimization factors under different strategiesCalculating the optimal control force of the still water working condition area by adopting the method (18)：
（18）。
Further, in step S5, the resultant force is controlled in real time by the dynamic positioning control systemCalculation is performed according to formula (19):
（19）。
the invention has the beneficial effects that:
1. the invention designs a regional power positioning control method integrating an anchoring positioning system and a power positioning system aiming at a ship which has long-term regional operation requirements, is in an anchoring state and needs to adopt power positioning to further and accurately perform position control, fully meets the actual operation requirements, and has the advantages of convenient deployment, no influence of water depth, good economy and the like;
2. according to the invention, on the calculation of optimizing control force in a still water working condition area, the regional optimization strategy is adopted, so that the control force is softer, and on the premise of meeting the regional positioning operation requirement, the ship is controlled at one position point without excessive pursuit, so that the energy consumption of a dynamic positioning system is greatly reduced, and the system has a green energy-saving effect; in addition, the early warning radius and the warning radius of the operation area can be set by a user according to the operation requirement, so that the usability of the control method is improved;
3. according to the invention, on the control resultant force, not only is the optimal control force of a still water working condition area calculated, but also the interference of a cable and a marine environment on a ship is fully considered, and the catenary theory and the extended Kalman filtering algorithm are respectively adopted for forecasting and feedforward compensation, so that the control precision is greatly improved;
4. the invention fully considers the influence of the cable on the ship, applies the acting force of the cable to the dynamic model of the dynamic positioning observer, and is used for calculating the optimal estimation and the environmental interference load of the current ship body motion state, so that the ship body dynamic model is more matched with the actual ship body state, the calculated ship body motion state estimation and environmental interference load are more accurate, and the control precision can be obviously improved.
Drawings
Fig. 1 is a schematic view of a vessel mooring line according to the invention.
FIG. 2 is a schematic diagram of the warning radius and the warning radius of the zonal optimization control of the present invention.
FIG. 3 is a schematic diagram of the region optimization factor under different strategies of the present invention.
Detailed Description
A regional dynamic positioning control method of a combined anchoring system comprises the following steps:
s1: calculating horizontal mooring force of the cable and vertical mooring force of the cable according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the cable guiding hole, the position of the throwing anchor point and the height difference from the cable guiding hole to the anchoring point, and decomposing the horizontal mooring force of the cable under the ship body coordinate system to obtain the interference load of the cable to the ship;
a specific ship mooring line schematic diagram is shown in fig. 1, and the interference load of the mooring line to the ship can be calculated by adopting a catenary theory, and the method comprises the following steps:
d1: according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the anchor cable hole relative to the center of the ship and the anchoring point, calculating the position of the cable guiding hole under the geodetic coordinate system by adopting the formula (1), and then calculating the horizontal distance between the position of the cable guiding hole and the anchoring point by adopting the formula (2):
（1）；
（2）；
wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For the heading of the ship,/->、/>、/>All can be realized through a sensorIs measured at the time of->For the longitudinal offset of the pilot hole relative to the centre of the vessel, < > for>For the lateral offset of the pilot hole relative to the centre of the vessel, < > for>、/>Are all the inherent parameters of the hull of the known ship, are the known quantity,/->Is the north position of the cable guide hole under the geodetic coordinate system, < >>Is the eastern position of the cable guide hole under the geodetic coordinate system,is the horizontal distance between the position of the cable guiding hole and the throwing anchor point, < > and the horizontal distance between the position of the cable guiding hole and the throwing anchor point>To represent the northbound position of the parabolic anchor in the geodetic coordinate system,/->To represent the eastern position of the ground coordinate system downcast anchor point +.>、All can be recorded in advance when the ship is anchored;
d2: carrying out iterative computation on the formulas (3) and (4) until convergence conditions of the formulas (5) and (6) are met, stopping iteration, and obtaining horizontal mooring force of the cable and vertical mooring force of the cable;
（3）；
（4）；
（5）；
（6）；
wherein:for horizontal mooring force of the cable, +.>For the inclination angle of the top end of the cable->For vertical mooring force of the cable +.>Projection distance for vertical direction of cable, < >>Projection distance for horizontal direction of cable, < >>For the unit wet weight of the mooring line, +.>Is the distance convergence threshold value in the horizontal direction, +.>Is a distance convergence threshold in the vertical direction,to guide the cable hole to break downThe difference in height of the dots;
d3: according to the horizontal mooring force of the cableDecomposing by adopting the method (7) to obtain the interference load +.f of the mooring rope to the ship under the ship body coordinate system>：
（7）；
Wherein:longitudinal tension on the vessel for the cable, +.>Transverse tension to the vessel for the mooring line, +.>The moment of the heading for the ship caused by the mooring line, < >>For cable interference load item->For the angle between the ship bow and the projection of the cable in the horizontal direction, < >>Transpose the matrix.
The horizontal mooring force of the mooring rope is given by the (3)Inclination angle of the top of the cable->Recursive cable vertical mooring force>Projection distance of cable in vertical direction>Projection distance of cable in horizontal direction->Expression (4) gives the vertical mooring force by the cable +.>Projection distance of cable in vertical direction>Projection distance of cable in horizontal direction->Recursive cable horizontal mooring force>Inclination angle of the top of the cable->Is an expression of (2); so long as the mooring force is given>Inclination angle of the top of the cable->The initial value of (a) can be continuously iterated by adopting the formulas (3) and (4) until the horizontal projection distance convergence condition shown in the formula (5) and the vertical projection distance convergence condition shown in the formula (6) are met, and the horizontal mooring force of the final mooring rope can be obtained>And vertical mooring force of the cable>。
S2: establishing a ship observer dynamic model containing an interference load item of a cable to a ship, and calculating the real-time environment interference load borne by the ship by adopting an extended Kalman filtering algorithm;
in particular, the ship is subjected to real-time environmental disturbance loadsThe calculation of (1) comprises the following steps:
e1: establishing load items containing cable disturbancesThe vessel dynamics model of (2) is formula (8):
（8）；
wherein:is a north position, an east position and a heading state vector of the ship under the geodetic coordinate system,is the state vector of the heave speed, the sway speed and the bow swing angular speed of the ship under the ship coordinate system>For heave velocity>For the surging speed, < >>For yaw rate, +.>Is a coordinate transformation matrix of a north-east coordinate system and a ship body coordinate system, and +.>；/>For the control feedback resultant force of the current actuator, wherein +.>For the longitudinal resultant force of the current actuator, +.>For the total transverse force of the current actuator, +.>For the moment of the heading sum of the current actuator, < >>Model noise amplitude for hull motion state, +.>A zero-mean unit Gaussian white noise three-dimensional vector; />Is a ship body inertia matrix>For real-time environmental disturbance load in the geodetic coordinate system, < +.>Is north ship environmental load under the geodetic coordinate system, +.>East ship environmental load under the geodetic coordinate system,/->For the environmental load of the ship in the heading under the geodetic coordinate system,/->An inertial time constant that is the environmental load of the hull; />The model noise amplitude of the environmental interference force is represented, and D is a ship damping matrix;
e2: establishing a dynamic positioning system measurement model as (9):
(9)
wherein:representing the measured noise amplitude, +.>Is a noisy system actual measurement;
e3: combining the ship dynamics model of the step E1 and the dynamic positioning system measurement model of the step E2 to obtain a cable interference load item in the step S1A model of the dynamics of the marine vessel observer (10):
（10）；
converting the formula (10) into a standard state space form of an extended Kalman filtering algorithm to obtain a formula (11):
（11）；
wherein:is a nine-dimensional state variable; />The three-dimensional control input is used for representing the control feedback resultant force of the current actuating mechanism; />The three-dimensional control input is used for representing the interference load of the mooring rope to the ship; />Is nine-dimensionalSystem noise; />Is a nonlinear state transfer function; />Is an input coefficient matrix; />Is an observation matrix; />Is a unit matrix; />Is a noise coefficient matrix;
e4: adopting an extended Kalman filtering algorithm to calculate and obtain a ship body motion position and a heading stateEnvironmental disturbance load->Hull speed and heading angular speedNine-dimensional state variable of the best estimate of (2)>To obtain the ship motion position and heading state>Load of environmental disturbanceShip speed and heading angular speed>Is a good estimate of the best estimate of (a).
S3: establishing a dynamics model of the ship controller, and calculating high-precision control force of the still water working condition by adopting an optimal control algorithm;
specifically, the high-precision control force of the still water working conditionThe calculation of (1) comprises the following steps:
f1: establishing a ship dynamics model (12):
(12)；
f2: converting the ship dynamics model into a linear steady state space form (13):
（13）；
wherein:is a motion state vector of the ship body; />For the system matrix->For input matrix +.>For outputting matrix +.>Is a unit matrix;
f3: setting an optimized quadratic index formula (14), and calculating an optimized quadratic index according to formula (15)Obtaining the real-time still water working condition high-precision control force of minimum value +.>：
（14）；
（15）；
Wherein:algebraic equation for Riccati->Is the only positive solution of->To control the error penalty matrix, < >>Penalty matrix for energy consumption, < >>A hull position and heading command set for a user,characterizing a control error penalty term->An energy consumption penalty term characterizing the control process.
S4: calculating the current position deviation of the ship according to the real-time motion position of the ship and the target position set by the user, and then carrying out regional optimization on the high-precision control force of the still water working condition according to the current position deviation of the ship to obtain the optimized control force of the still water working condition region;
specifically, the control force is optimized in the still water working condition areaThe calculation of (1) comprises the following steps:
g1: calculating the current position deviation of the ship according to (16)：
（16）；
Wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For the set target north position of the ship, +.>The method comprises the steps of setting a ship target east position;
and G2: according to the current position deviation of the ship, performing control force optimization of different strategies on the high-precision control force of the still water working condition in the step S3, and obtaining region optimization factors under different strategies according to a formula (17)A schematic diagram of the region optimization factors under specific different strategies is shown in fig. 3;
（17）；
wherein:early warning radius optimized for zoning, +.>Alarm radius optimized for zoning, +.>、/>Can be set by a user according to the needsAnd->The schematic diagram of the early warning radius and the warning radius of the specific regional optimization control is shown in figure 2; />A relaxation factor optimized for the zoning;
and G3: according to regional optimization factors under different strategiesCalculating the optimal control force of the still water working condition area by adopting the method (18)：
（18）。
Therefore, according to the current position deviation of the ship, the control force optimization of different strategies is carried out on the high-precision control force of the still water working condition, and the core optimization idea is as follows: when the position deviation is smaller than the early warning radius, no control force is applied; when the position deviation is between the early warning radius and the warning radius, the control force is softer; and when the position deviation is larger than the alarm radius, the original control force is applied.
S5: according to the optimal control force of the still water working condition area, feedforward compensation is respectively carried out on the interference load of the ship and the real-time environmental interference load received by the ship by the cable, and the real-time control resultant force of the dynamic positioning control system is calculated;
specifically, the real-time control resultant force of the dynamic positioning control systemCalculation is performed according to formula (19):
（19）。
s6: and the thrust distribution module generates a control command of the ship executing mechanism from the real-time control resultant force of the dynamic positioning control system, and drives the executing mechanism to generate thrust so as to keep the ship in an anchoring state in a preset position area.
The regional power positioning control method of the combined anchoring system is designed aiming at the ships which have long-term regional operation requirements, are in an anchoring state and need to adopt power positioning to further accurately control the position, and combines the power positioning control method of the ships with the anchoring system of the ships, so that the regional power positioning control method not only fully meets the actual operation requirements, but also has the advantages of convenient deployment, no influence of water depth, good economy and the like; according to the invention, on the calculation of optimizing control force in a still water working condition area, the regional optimization strategy is adopted, so that the control force is softer, and on the premise of meeting the regional positioning operation requirement, the ship is controlled at one position point without excessive pursuit, so that the energy consumption of a dynamic positioning system is greatly reduced, and the system has a green energy-saving effect; the early warning radius and the warning radius of the operation area can be set by a user according to the operation requirement, so that the usability of the control method is improved; when the resultant force is calculated, not only the optimal control force of the still water working condition area is calculated, but also the interference of the cable and the marine environment on the ship is fully considered, the acting force of the cable is applied to the dynamic model of the dynamic positioning observer and is used for calculating the optimal estimation and the environment interference load of the current ship body motion state, so that the ship body dynamic model is more matched with the actual ship body state, the calculated ship body motion state estimation and environment interference load are more accurate, and the control precision is greatly improved.
In summary, the regional dynamic positioning control method of the combined anchoring system provided by the invention predicts the interference load of the mooring rope on the ship in real time based on the time-varying ship position; based on the dynamic positioning state observer, forecasting the interference load of the marine environment on the ship in real time; based on the dynamic positioning state controller, the optimal control of the positioning error is adopted, the optimal control of the still water working condition is realized, and the regional optimization idea is adopted for optimization; finally, on the basis of optimizing control force in a still water working condition area, feedforward compensation of cable interference load and environment interference load is carried out, and control resultant force is output, so that regional power positioning control of the ship in an anchor state is realized, the ship is controlled in a safe area, and long-term offshore operation of the ship is ensured.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The regional dynamic positioning control method of the combined anchoring system is characterized by comprising the following steps of:
s1: calculating horizontal mooring force of the cable and vertical mooring force of the cable according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the cable guiding hole, the position of the throwing anchor point and the height difference from the cable guiding hole to the anchoring point, and decomposing the horizontal mooring force of the cable under the ship body coordinate system to obtain the interference load of the cable to the ship;
s2: establishing a ship observer dynamic model containing an interference load item of a cable to a ship, and calculating the real-time environment interference load borne by the ship by adopting an extended Kalman filtering algorithm;
s3: establishing a dynamics model of the ship controller, and calculating high-precision control force of the still water working condition by adopting an optimal control algorithm;
s4: calculating the current position deviation of the ship according to the real-time motion position of the ship and the target position set by the user, and then carrying out regional optimization on the high-precision control force of the still water working condition according to the current position deviation of the ship to obtain the optimized control force of the still water working condition region;
s5: according to the optimal control force of the still water working condition area, feedforward compensation is respectively carried out on the interference load of the ship and the real-time environmental interference load received by the ship by the cable, and the real-time control resultant force of the dynamic positioning control system is calculated;
s6: and the thrust distribution module generates a control command of the ship executing mechanism from the real-time control resultant force of the dynamic positioning control system, and drives the executing mechanism to generate thrust so as to keep the ship in an anchoring state in a preset position area.
2. The regional dynamic positioning control method of a combined mooring system according to claim 1, wherein the disturbance load of the cable to the vessel in step S1 is calculated by catenary theory, and comprises the steps of:
d1: according to the real-time motion position and heading state vector of the ship under the geodetic coordinate system, the position of the anchor cable hole relative to the center of the ship and the anchoring point, calculating the position of the cable guiding hole under the geodetic coordinate system by adopting the formula (1), and then calculating the horizontal distance between the position of the cable guiding hole and the anchoring point by adopting the formula (2):
（1）；
（2）；
wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For the heading of the ship,/->For the longitudinal offset of the pilot hole relative to the centre of the vessel, < > for>For the lateral offset of the pilot hole relative to the centre of the vessel, < > for>For guiding holes under the geodetic coordinate systemNorth position (northbound)>Is the eastern position of the cable guiding hole under the geodetic coordinate system, < >>Is the horizontal distance between the position of the cable guiding hole and the throwing anchor point, < > and the horizontal distance between the position of the cable guiding hole and the throwing anchor point>To represent the north position of the parabolic anchor under the geodetic coordinate system,to represent the east position of the throwing anchor point under the geodetic coordinate system;
d2: carrying out iterative computation on the formulas (3) and (4) until convergence conditions of the formulas (5) and (6) are met, stopping iteration, and obtaining horizontal mooring force of the cable and vertical mooring force of the cable;
（3）；
（4）；
（5）；
（6）；
wherein:for horizontal mooring force of the cable, +.>For the inclination angle of the top end of the cable->For vertical mooring force of the cable +.>Projection distance for vertical direction of cable, < >>Projection distance for horizontal direction of cable, < >>For the unit wet weight of the mooring line, +.>Is the distance convergence threshold value in the horizontal direction, +.>Is a distance convergence threshold value in the vertical direction, +.>The height difference from the cable guiding hole to the anchoring point is set;
d3: according to the horizontal mooring force of the cableDecomposing by adopting the method (7) to obtain the interference load +.f of the mooring rope to the ship under the ship body coordinate system>：
（7）；
Wherein:longitudinal tension on the vessel for the cable, +.>Transverse tension to the vessel for the mooring line, +.>The moment of the heading for the ship caused by the mooring line, < >>Is the included angle between the ship bow and the projection of the mooring rope in the horizontal direction,for cable interference load item->Transpose the matrix.
3. The regional dynamic positioning control method of a combined mooring system according to claim 2, wherein in step S2, the real-time environmental disturbance load is appliedThe calculation of (1) comprises the following steps:
e1: establishing load items containing cable disturbancesThe vessel dynamics model of (2) is formula (8):
（8）；
wherein:is a north position, an east position and a heading state vector of the ship under the geodetic coordinate system,is the state vector of the heave speed, the sway speed and the bow swing angular speed of the ship under the ship coordinate system>For heave velocity>For the surging speed, < >>For yaw rate, +.>Is a coordinate transformation matrix of a north-east coordinate system and a ship body coordinate system, and +.>；/>For the control feedback resultant force of the current actuator, wherein +.>For the longitudinal resultant force of the current actuator, +.>For the total transverse force of the current actuator, +.>For the moment of the heading sum of the current actuator, < >>Model noise amplitude for hull motion state, +.>A zero-mean unit Gaussian white noise three-dimensional vector; />Is a ship body inertia matrix>For real-time environmental disturbance load in the geodetic coordinate system, < +.>Is north ship environmental load under the geodetic coordinate system, +.>East ship environmental load under the geodetic coordinate system,/->For the environmental load of the ship in the heading under the geodetic coordinate system,/->An inertial time constant that is the environmental load of the hull; />The model noise amplitude of the environmental interference force is represented, and D is a ship damping matrix;
e2: establishing a dynamic positioning system measurement model as (9):
(9)；
wherein:representing the measured noise amplitude, +.>Is a noisy system actual measurement;
e3: combining the ship dynamics model of the step E1 and the dynamic positioning system measurement model of the step E2 to obtain a cable interference load item in the step S1A model of the dynamics of the marine vessel observer (10):
（10）；
converting the formula (10) into a standard state space form of an extended Kalman filtering algorithm to obtain a formula (11):
（11）；
wherein:is a nine-dimensional state variable; />The three-dimensional control input is used for representing the control feedback resultant force of the current actuating mechanism; />The three-dimensional control input is used for representing the interference load of the mooring rope to the ship; />Nine-dimensional system noise;is a nonlinear state transfer function; />Is an input coefficient matrix; />Is an observation matrix; />Is a unit matrix;/>is a noise coefficient matrix;
e4: adopting an extended Kalman filtering algorithm to calculate and obtain a ship body motion position and a heading stateEnvironmental disturbance load->Ship speed and heading angular speed>Nine-dimensional state variable of the best estimate of (2)>Is used for the real-time best estimate of (a).
4. A regional dynamic positioning control method of a combined mooring system according to claim 3, wherein in step S3, the force is controlled with high accuracy under the still water conditionThe calculation of (1) comprises the following steps:
f1: establishing a ship dynamics model (12):
(12)；
f2: converting the ship dynamics model into a linear steady state space form (13):
（13）；
wherein:is a motion state vector of the ship body; />For the system matrix->For input matrix +.>For outputting matrix +.>Is a unit matrix;
f3: setting an optimized quadratic index formula (14), and calculating an optimized quadratic index according to formula (15)Obtaining the real-time still water working condition high-precision control force of minimum value +.>：
（14）；
（15）；
Wherein:algebraic equation for Riccati->Is the only positive solution of->To control the error penalty matrix, < >>Penalty matrix for energy consumption, < >>A hull position and heading command set for a user,characterizing a control error penalty term->An energy consumption penalty term characterizing the control process.
5. The regional dynamic positioning control method of a combined mooring system according to claim 4, wherein in step S4, the control force is optimized in the still water condition regionThe calculation of (1) comprises the following steps:
g1: calculating the current position deviation of the ship according to (16)：
（16）；
Wherein:is the north position of the ship, is->Is the eastern position of the ship, is->For a set target north position of the vessel,the method comprises the steps of setting a ship target east position;
and G2: according to the current position deviation of the ship, performing control force optimization of different strategies on the high-precision control force of the still water working condition in the step S3, and obtaining region optimization factors under different strategies according to a formula (17)；
（17）；
Wherein:early warning radius optimized for zoning, +.>Alarm radius optimized for zoning, +.>；/>A relaxation factor optimized for the zoning;
and G3: according to regional optimization factors under different strategiesCalculating the optimal control force of the still water working condition area by adopting the method (18)：
（18）。
6. Root of Chinese characterThe method of regional dynamic positioning control of a joint mooring system according to claim 5, wherein in step S5, the dynamic positioning control system controls the resultant force in real timeCalculation is performed according to formula (19):
（19）。
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| CN117828239A (en) * | 2024-03-05 | 2024-04-05 | 中交第一航务工程局有限公司 | Control method for cable reeling and unreeling in ship stabilizing process of full-floating leveling |
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