EP3335977B1 - Method and device for swell compensation - Google Patents
Method and device for swell compensation Download PDFInfo
- Publication number
- EP3335977B1 EP3335977B1 EP17206331.5A EP17206331A EP3335977B1 EP 3335977 B1 EP3335977 B1 EP 3335977B1 EP 17206331 A EP17206331 A EP 17206331A EP 3335977 B1 EP3335977 B1 EP 3335977B1
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- European Patent Office
- Prior art keywords
- relative movement
- load
- control loop
- prediction
- predictor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
- B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
Definitions
- the invention relates to a system for active wave compensation. Strictly speaking, such systems do not compensate for the swell but for the wave-induced movement of a floating device (e.g., ship or platform) due to the swell.
- a floating device e.g., ship or platform
- the goal of such wave compensation systems is to control a position and / or velocity of a load (e.g., pipeline or gangway).
- a load e.g., pipeline or gangway.
- the current state of the art essentially allows the division into passive and active systems.
- Passive systems use a compliant element (eg, a passive energy store or a hydropneumatically designed spring) which reduces load induced by the waves to a lifting unit of the floating device.
- a compliant element eg, a passive energy store or a hydropneumatically designed spring
- the active systems provide an additional actuator or at least a complementary active engagement in the lifting device, whereby they achieve a significantly improved compensation quality by means of suitable control strategies.
- the actuation may be based on hydraulic cylinders, winches with primary and secondary controlled hydraulic motors or electric motors.
- a disadvantage of such active regulations is the time delay, which is largely determined by the delay of the closed loop, which by the controller, the characteristics of each installed mechanical components, the dynamics of the entire system and the signal delays due to the measurement system (bus delays, Update times, etc.) is affected.
- the active system for wave compensation according to the document EP 2 123 588 A1 Therefore, in addition to the measuring device, it has a prediction device which determines a prediction (prediction) of the movement of the floating device for the near future, which is also impressed into the regulation of the lifting device.
- An algorithm for prediction is used.
- the object of the invention is to provide a method and a device for improving the performance with a predictive control strategy.
- the method and the device should be able to be integrated with little effort into existing control systems.
- the method and the device in contrast to publications of the prior art without change in existing control system to be used (add-on solution).
- the inventive method for controlling at least one actuator of a fixed - be arranged in particular on the shore - lifting device, the movement of the load to be adapted to the movement of a floating device.
- the floating device may comprise the lifting device so that the load is to be held stationary - e.g. over the seabed.
- the second embodiment of the method may e.g. be used on an offshore crane, a crane ship, an offshore gangway, a drilling platform or a drill ship.
- the floating device also has the lifting device, wherein (different from the second embodiment) the load is to be adapted to the movement of another floating device.
- the load is to be adapted to the movement of another floating device.
- an optical measuring technique can be used to detect the relative movement of the two floating devices to each other.
- the third Embodiment may thus be a ship-to-ship application of the method according to the invention.
- the inventive method can be developed not only to compensate for a vertical (immersion) movement (Heave) but also for the other five degrees of freedom of movement of the floating device.
- a vertical (immersion) movement Heave
- the inventive method can be developed not only to compensate for a vertical (immersion) movement (Heave) but also for the other five degrees of freedom of movement of the floating device.
- the method comprises the following supplementary step: determination of a dominant frequency of the movement, e.g. the typical Jonswap spectrum for the North Sea.
- the method is performed with a closed loop.
- the method has the following additional step: performing an offline transfer function of the control loop.
- the method has the following additional step: determination of a phase shift of the control loop.
- the method has the following additional step: determination of a prediction time as a function of the update rate based on the determined phase shift.
- the method is adaptive and has the following supplementary step: carrying out a feed-forward inversion of the closed-loop control.
- the performance of the method according to the invention can be further improved.
- the method has the following additional step: modification of properties of an adaptive controller as a function of the process dynamics.
- the method has the following additional step: performing an online parameter estimation of the closed-loop control in real time.
- the execution of the closed loop closed loop parameter estimation is preferably based on an algorithm that performs a stable inversion of an estimated model.
- the claimed device is for active wave compensation, wherein relative movement between a target position (e.g., the seabed or deck of a floating device) and a load (e.g., a pipeline or gangway) is at least partially compensated.
- the device has a measuring device for detecting the current relative movement and a predictor used as a predictor for predicting the future relative movement.
- the predictor is based on a recursive least-squares algorithm.
- the device In order to achieve the same degree of compensation, components with predictors over the prior art can use less expensive components. Furthermore, the device allows very low integration costs. Finally, the device enables an add-on solution for existing devices.
- the device according to the invention has a summation element, via which an output signal of the predictor and an output signal of a control element can be added.
- FIG. 1 shows in a simplified representation of a wave 1 of a sea surface on which a ship 3 floats. Due to the wave 1, the ship 3 executes a movement (heave) h t , which may deviate from the shaft 1, and the in FIG. 1 symbolized by a double arrow.
- a crane 4 On the ship 3, a crane 4 is mounted, via the winch 6 a load m to the seabed 8 is to be lowered.
- the winch has a rotational speed ⁇ .
- the load m has a position z and is lowered at a speed v.
- the movement h t of the ship 3 is a relative movement h t between a floating device 3 and a target position 8.
- the movement h t of the vessel is measured by a measuring device (MRU) 10 and used as an input value for estimating the future value h t + 1 .
- the estimate is based on a recursive least squares (RLS) algorithm.
- K ⁇ t P t - 1 ⁇ H ⁇ t - 1 ⁇ + H ⁇ t - 1 T P t - 1 H ⁇ t - 1 calculated, where ⁇ (0 ⁇ ⁇ ⁇ 1) of the so-called forgetting factor, and P i are the inverse correlation matrix of the measurement data.
- ⁇ t H t - H t - 1 T ⁇ ⁇ t - 1 ⁇ certainly.
- an estimate of the movement or the measured values is calculated at a time t + n .
- the invention is directed to an extension of an existing AHC system for swell compensation.
- an existing controller 16 which in the case of shown embodiments is designed as a PID controller, by incorporating future information on movement improved performance allowed. Accordingly, the extended structure is divided into a "prediction of movement” and an "active precontrol".
- the performance of the system for active wave compensation is significantly determined by the delay of the closed loop 14, which by the controller 16, the characteristics of each installed mechanical components and the signal delays due to the measuring device 10 (bus delays, update times, etc.) being affected.
- the property of the predictor 12 requires a periodic course of the input variable h t in order to be able to make the most accurate prediction h t + 1 possible. This is given by the characteristic of the waves 1 and the correspondingly also the slower motion h t of the ship 3.
- an offline transfer function of the closed loop 14 is performed. Furthermore, the phase shift of the closed loop 14 is determined at the known dominant frequency of the wave motion h t (eg in Jonswap spectrum). Based on the determined phase shift, the prediction time is determined as a function of the update rate.
- the sum of the predicted future movement h t + 1 and a user command of a control element 24, formed via a summer 23, represents the input of the prior art active wave compensation system.
- the internal structure of the prior art system need not be changed.
- FIG. 3 A simulation of both embodiments of the method according to the invention and the device according to the invention for active wave compensation combined with the predictor 12 is in FIG. 3 shown.
- the results for the example ship 3 with representative movement data h t are shown.
- Four different speeds v of the load m are plotted over time.
- the dashed curve shows the speed of movement h t of the ship and thus also the speed v of the load m without compensation.
- the curve 19 shows the speed v of the load m with active swell compensation according to the prior art.
- Curve 20 shows the speed v of the load m with active wave compensation according to the invention according to the first embodiment with phase shift.
- Curve 21 shows the speed v of the load m with active wave compensation according to the invention according to the second exemplary embodiment with the adaptive method.
- the performance can be further improved by means of a feed-forward inversion of the controlled system.
- a disadvantage of the method described above is the need for an offline phase delay analysis, which is achieved by an extension according to FIG. 4 is solved.
- An adaptive controller 22 modifies its properties as a function of the process dynamics and the characteristic of the movement h t of the ship 3.
- the adaptation process requires an additional online parameter estimation by means of a parameter estimator 26 of the closed loop 14 in real time.
- the parameter estimator 26 is based on an algorithm that performs a stable inversion of the estimated model.
- the predicted motion information is included in the calculation of the manipulated variable of the adaptive controller.
- the prediction is performed using a recursive least-squares algorithm.
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- Ocean & Marine Engineering (AREA)
- Feedback Control In General (AREA)
Description
Die Erfindung betrifft ein System zur aktiven Wellengangskompensation. Mit derartigen Systemen wird genau genommen nicht der Wellengang kompensiert, sondern die durch die Wellen induzierte Bewegung einer schwimmenden Einrichtung (z.B. Schiff oder Plattform) auf Grund des Wellengangs.The invention relates to a system for active wave compensation. Strictly speaking, such systems do not compensate for the swell but for the wave-induced movement of a floating device (e.g., ship or platform) due to the swell.
Eines der Hauptmerkmale und maßgeblicher störender Faktor bei Marine- und Offshore-Operationen ist die durch Wellen induzierte Bewegung der schwimmenden Einrichtungen. Bei Operationen wie z.B. dem Absetzen einer Last auf dem Meeresgrund/Schiff oder der Verlegung von Unterwasser-Pipelines muss auf ein so genanntes Wetterfenster gewartet werden, in dem ein ruhiger Wellengang vermutet wird, was zu hohen Kosten der Operation führt. Diesbezüglich werden Systeme zur Wellengangskompensation in der Marine- und Offshore-Technik eingesetzt um diese Bewegung zu kompensieren und gegebenenfalls das Wetterfenster bzw. das Operationszeitfenster zu erweitern.One of the main features and significant disturbing factor in marine and offshore operations is the wave induced movement of the floating equipment. For operations such as In the event of landing a load on the seabed / ship or laying underwater pipelines, it is necessary to wait for a so-called weather window in which a calm swell is suspected, resulting in high costs of the operation. In this regard, systems are used for wave compensation in marine and offshore technology to compensate for this movement and, where appropriate, to expand the weather window or the operating time window.
Das Ziel derartiger Systeme zur Wellengangskompensation ist die Regelung einer Position und/oder Geschwindigkeit einer Last (z.B. Pipeline oder Gangway). Der derzeitige Stand der Technik erlaubt im Wesentlichen die Einteilung in passive und aktive Systeme.The goal of such wave compensation systems is to control a position and / or velocity of a load (e.g., pipeline or gangway). The current state of the art essentially allows the division into passive and active systems.
Passive Systeme verwenden ein nachgiebiges Element (z.B. einen passiven Energiespeicher oder eine hydropneumatisch ausgeführte Feder), welches durch den Wellengang induzierte Lasten auf eine Hubeinheit der schwimmenden Einrichtung reduziert. Dies hat den Vorteil eines einfachen und günstigen Aufbaus jedoch mit beschränkter Kompensationsgüte.Passive systems use a compliant element (eg, a passive energy store or a hydropneumatically designed spring) which reduces load induced by the waves to a lifting unit of the floating device. This has the advantage of a simple and inexpensive construction but with limited compensation quality.
Die aktiven Systeme sehen einen zusätzlichen Aktor oder zumindest einen ergänzenden aktiven Eingriff in die Hubvorrichtung vor, wobei sie durch geeignete Regelungsstrategien eine deutlich verbesserte Kompensationsgüte erreichen. Die Aktuierung bzw. der aktive Eingriff kann auf hydraulischen Zylindern, Winden mit primär und sekundär geregelten Hydraulikmotoren oder elektrischen Motoren basieren.The active systems provide an additional actuator or at least a complementary active engagement in the lifting device, whereby they achieve a significantly improved compensation quality by means of suitable control strategies. The actuation may be based on hydraulic cylinders, winches with primary and secondary controlled hydraulic motors or electric motors.
In der Druckschrift
Nachteilig an derartigen aktiven Regelungen ist die zeitliche Verzögerung, die maßgeblich durch den Delay des geschlossenen Regelkreises bestimmt wird, welcher durch den Controller, die Charakteristik der jeweils verbauten mechanischen Komponenten, die Dynamik des Gesamtsystems und die Signalverzögerungen in Folge des Messsystems (Bus-Delays, Update Zeitpunkte, etc.) beeinflusst wird.A disadvantage of such active regulations is the time delay, which is largely determined by the delay of the closed loop, which by the controller, the characteristics of each installed mechanical components, the dynamics of the entire system and the signal delays due to the measurement system (bus delays, Update times, etc.) is affected.
Das aktive System zur Wellengangskompensation gemäß der Druckschrift
Die Aufgabe der Erfindung ist die Schaffung eines Verfahrens und einer Vorrichtung zur Verbesserung der Performance mit einer vorausschauenden Regelungsstrategie. Das Verfahren und die Vorrichtung sollen sich mit geringem Aufwand in bestehende Regelsysteme integrieren lassen. Insbesondere sollen das Verfahren und die Vorrichtung im Gegensatz zu Veröffentlichungen des Standes der Technik ohne Veränderung in bestehenden Regelungssystems eingesetzt werden (Add-On Lösung).The object of the invention is to provide a method and a device for improving the performance with a predictive control strategy. The method and the device should be able to be integrated with little effort into existing control systems. In particular, the method and the device, in contrast to publications of the prior art without change in existing control system to be used (add-on solution).
Diese Aufgabe wird gelöst durch ein Verfahren zur aktiven Wellengangskompensation mit den Merkmalen des Patentanspruchs 1 und durch eine Vorrichtung zur aktiven Wellengangskompensation mit den Merkmalen des Patentanspruchs 13.This object is achieved by a method for active wave compensation with the features of
Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Patentansprüchen beschrieben.Further advantageous embodiments of the invention are described in the dependent claims.
Mit dem beanspruchten Verfahren wird eine aktive Wellengangskompensation durchgeführt, in dem eine Relativbewegung zwischen einer Zielposition (z.B. dem Meeresgrund oder einem Deck einer schwimmenden Einrichtung) und einer Last (z.B. einer Pipeline oder einer Gangway) zumindest teilweise kompensiert wird. Das Verfahren weist folgende wiederholt durchgeführte Schritte auf:
- Messen der aktuellen Relativbewegung und
- Vorausberechnen der zukünftigen Relativbewegung.
- Measuring the current relative movement and
- Predicting the future relative movement.
Um die gleiche Kompensationsgüte zu erreichen, können bei Verfahren mit Vorausberechnung gegenüber dem Stand der Technik kostengünstigere Komponenten eingesetzt werden. Weiterhin ermöglicht das Verfahren sehr geringe Integrationskosten. Schließlich ermöglicht das Verfahren eine Add-On-Lösung für bestehende Systeme.In order to achieve the same compensation quality, more cost-effective components can be used in methods with advance calculation in comparison with the prior art. Furthermore, the method allows very low integration costs. Finally, the method enables an add-on solution for existing systems.
Gemäß einer ersten Ausführungsform kann das erfindungsgemäße Verfahren zur Regelung zumindest eines Aktors einer ortsfesten - insbesondere am Ufer angeordneten - Hubeinrichtung ausgelegt sein, wobei die Bewegung der Last an die Bewegung einer schwimmenden Einrichtung angepasst werden soll.According to a first embodiment, the inventive method for controlling at least one actuator of a fixed - be arranged in particular on the shore - lifting device, the movement of the load to be adapted to the movement of a floating device.
In einer zweiten bevorzugten Ausführungsform kann die schwimmende Einrichtung die Hubeinrichtung aufweisen, so dass die Last ruhend bzw. ortsfest gehalten werden soll - z.B. über dem Meeresgrund. Die zweite Ausführungsform des Verfahrens kann z.B. an einem Offshorekran, einem Kranschiff, einer Offshore Gangway, einer Bohrpattform oder einem Bohrschiff eingesetzt werden.In a second preferred embodiment, the floating device may comprise the lifting device so that the load is to be held stationary - e.g. over the seabed. The second embodiment of the method may e.g. be used on an offshore crane, a crane ship, an offshore gangway, a drilling platform or a drill ship.
Gemäß einer dritten Ausführungsform weist auch die schwimmende Einrichtung die Hubeinrichtung auf, wobei (abweichend von der zweiten Ausführungsform) die Last an die Bewegung einer weiteren schwimmenden Einrichtung angepasst werden soll. Dabei kann vorzugsweise eine optische Messtechnik eingesetzt werden, um die Relativbewegung der beiden schwimmenden Einrichtungen zueinander zu erfassen. Bei der dritten Ausführungsform kann es sich also um eine Schiff-zu-Schiff-Anwendung des erfindungsgemäßen Verfahrens handeln.According to a third embodiment, the floating device also has the lifting device, wherein (different from the second embodiment) the load is to be adapted to the movement of another floating device. In this case, preferably an optical measuring technique can be used to detect the relative movement of the two floating devices to each other. At the third Embodiment may thus be a ship-to-ship application of the method according to the invention.
Das erfindungsgemäße Verfahren kann nicht nur zur Kompensation einer vertikalen (Tauch-) Bewegung (Heave) sondern auch für die weiteren fünf Freiheitsgrade der Bewegung der schwimmenden Einrichtung weitergebildet sein. Also für lineare Bewegungen entlang der Längsachse und/oder lineare Bewegungen entlang der Querachse und/oder rotatorische Gierbewegungen um die senkrechte Achse und/oder Rollbewegungen um die Längsachse und/oder Nickbewegungen um die Querachse der schwimmenden Einrichtung.The inventive method can be developed not only to compensate for a vertical (immersion) movement (Heave) but also for the other five degrees of freedom of movement of the floating device. Thus, for linear movements along the longitudinal axis and / or linear movements along the transverse axis and / or rotational yawing movements about the vertical axis and / or rolling movements about the longitudinal axis and / or pitching movements about the transverse axis of the floating device.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Ermittlung einer dominierende Frequenz der Bewegung, z.B. das für die Nordsee typische Jonswap Spektrum.Preferably, the method comprises the following supplementary step: determination of a dominant frequency of the movement, e.g. the typical Jonswap spectrum for the North Sea.
Gemäß einem ersten Ausführungsbeispiel wird das Verfahren mit einem geschlossenen Regelkreis durchgeführt.According to a first embodiment, the method is performed with a closed loop.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Durchführung einer offline Übertragungsfunktion des Regelkreises.Preferably, the method has the following additional step: performing an offline transfer function of the control loop.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Bestimmung einer Phasenverschiebung des Regelkreises.Preferably, the method has the following additional step: determination of a phase shift of the control loop.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Bestimmung einer Prädiktionszeit in Abhängigkeit der Update-Rate basierend auf der ermittelten Phasenverschiebung.Preferably, the method has the following additional step: determination of a prediction time as a function of the update rate based on the determined phase shift.
Gemäß einem zweiten Ausführungsbeispiel ist das Verfahren adaptiv und weist folgenden ergänzenden Schritt auf: Durchführung einer Feed-Forward-Inversion des geschlossenen Regelkreises. Damit kann die Performance des erfindungsgemäßen Verfahrens weiter verbessert werden.According to a second embodiment, the method is adaptive and has the following supplementary step: carrying out a feed-forward inversion of the closed-loop control. Thus, the performance of the method according to the invention can be further improved.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Modifizierung von Eigenschaften eines adaptiven Reglers in Abhängigkeit der Prozessdynamik.Preferably, the method has the following additional step: modification of properties of an adaptive controller as a function of the process dynamics.
Vorzugsweise weist das Verfahren folgenden ergänzenden Schritt auf: Durchführung einer online Parameterschätzung des geschlossenen Regelkreises in Echtzeit.Preferably, the method has the following additional step: performing an online parameter estimation of the closed-loop control in real time.
Die Durchführung der online Parameterschätzung des geschlossenen Regelkreises basiert vorzugsweise auf einem Algorithmus, der eine stabile Inversion eines geschätzten Modells vornimmt.The execution of the closed loop closed loop parameter estimation is preferably based on an algorithm that performs a stable inversion of an estimated model.
Die beanspruchte Vorrichtung dient zur aktiven Wellengangskompensation, wobei eine Relativbewegung zwischen einer Zielposition (z.B. dem Meeresgrund oder einem Deck einer schwimmenden Einrichtung) und einer Last (z.B. einer Pipeline oder einer Gangway) zumindest teilweise kompensierbar ist. Dazu hat die Vorrichtung eine Messeinrichtung zur Erfassung der aktuellen Relativbewegung und einen als Prognoseeinrichtung eingesetzten Prädiktor zum Vorausberechnen der zukünftigen Relativbewegung. Erfindungsgemäß basiert der Prädiktor auf einem Recursive-Least-Squares-Algorithmus.The claimed device is for active wave compensation, wherein relative movement between a target position (e.g., the seabed or deck of a floating device) and a load (e.g., a pipeline or gangway) is at least partially compensated. For this purpose, the device has a measuring device for detecting the current relative movement and a predictor used as a predictor for predicting the future relative movement. According to the invention, the predictor is based on a recursive least-squares algorithm.
Um die gleiche Kompensationsgüte zu erreichen, können bei Vorrichtungen mit Prädiktor gegenüber dem Stand der Technik kostengünstigere Komponenten eingesetzt werden. Weiterhin ermöglicht die Vorrichtung sehr geringe Integrationskosten. Schließlich ermöglicht die Vorrichtung eine Add-On-Lösung für bestehende Vorrichtungen.In order to achieve the same degree of compensation, components with predictors over the prior art can use less expensive components. Furthermore, the device allows very low integration costs. Finally, the device enables an add-on solution for existing devices.
Die vorgenannten Weiterbildungen des Verfahrens können auch bevorzugte Weiterbildungen der Vorrichtung sein.The aforementioned developments of the method may also be preferred developments of the device.
Bei einer bevorzugten Weiterbildung hat die erfindungsgemäße Vorrichtung ein Summationsglied, über das ein Ausgangssignal des Prädiktors und ein Ausgangssignal eines Bedienelements addierbar sind.In a preferred embodiment, the device according to the invention has a summation element, via which an output signal of the predictor and an output signal of a control element can be added.
Mehrere Ausführungsbeispiele des erfindungsgemäßen Verfahrens bzw. der erfindungsgemäßen Vorrichtung zur aktiven Wellengangskompensation sind in den Zeichnungen dargestellt. Anhand der Figuren dieser Zeichnungen wird die Erfindung nun näher erläutert.Several embodiments of the method and the device according to the invention for active wave compensation are shown in the drawings. With reference to the figures of these drawings, the invention will now be explained in more detail.
Es zeigen
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in einer schematischen Darstellung ein Schiff mit einer am Boden abzusetzenden Last mit der erfindungsgemäßen Vorrichtung zur Wellengangskompensation,Figur 1 -
Figur 2 eine Schaltbild eines ersten Ausführungsbeispiels des erfindungsgemäßen Verfahrens, -
ein Diagramm mit der Darstellung der Bewegung der Last ohne und mit erfindungsgemäßem Verfahren bzw. ohne und mit erfindungsgemäße Vorrichtung; undFigur 3 -
Figur 4 eine Schaltbild eines zweiten Ausführungsbeispiels des erfindungsgemäßen Verfahrens.
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FIG. 1 in a schematic representation of a ship with a load to be placed on the ground with the device according to the invention for swell compensation, -
FIG. 2 a circuit diagram of a first embodiment of the method according to the invention, -
FIG. 3 a diagram showing the movement of the load without and with inventive method or without and with inventive device; and -
FIG. 4 a circuit diagram of a second embodiment of the method according to the invention.
Auf dem Schiff 3 ist ein Kran 4 montiert, über dessen Winde 6 eine Last m zum Meeresgrund 8 abgesenkt werden soll. Die Winde hat eine Drehgeschwindigkeit ω. Dabei hat die Last m eine Position z und wird mit einer Geschwindigkeit v abgesenkt.On the
Verallgemeinert ausgedrückt ist die Bewegung h t des Schiffes 3 eine Relativbewegung h t zwischen einer schwimmenden Einrichtung 3 und einer Zielposition 8.Expressed in general terms, the movement h t of the
Gemäß
Zur Schätzung wird ein lineares Modell θ
Zunächst wird der sogenannte Kalman-Verstärkungsvektor
Der Apriori-Fehler ∈ zwischen dem aktuellen Messwert h t und dem geschätzten Wert h t+1 wird anschließend als
Die Koeffizienten θt werden anhand der Gleichung
Anschließend wird eine Schätzung der Bewegung bzw. der Messwerte zu einem Zeitpunkt t+n berechnet. Dazu wird iterativ ein neuer Messdaten-Vektor entsprechender Länge erzeugt und mit dem Koeffizienten-Vektor
Die Erfindung richtet sich auf eine Erweiterung eines bestehenden AHC Systems zur Wellengangskompensation. Das bedeutet, dass ein bestehender Regler 16, der bei den gezeigten Ausführungsbeispielen als PID-Regler ausgebildet ist, durch Einbeziehen zukünftiger Informationen zur Bewegung eine verbesserte Performance erlaubt. Dem entsprechend gliedert sich die erweiterte Struktur in eine "Vorhersage der Bewegung" und eine "aktive Vorsteuerung".The invention is directed to an extension of an existing AHC system for swell compensation. This means that an existing
Die Performance des Systems zur aktiven Wellengangskompensation wird maßgeblich durch den Delay des geschlossenen Regelkreises 14 bestimmt, welcher durch den Regler 16, die Charakteristik der jeweils verbauten mechanischen Komponenten und die Signalverzögerungen in Folge der Messeinrichtung 10 (Bus-Delays, Update Zeitpunkte, etc.) beeinflusst wird.The performance of the system for active wave compensation is significantly determined by the delay of the closed
Durch den Einsatz eines Prädiktors 12 in der Vorsteuerung kann durch einen geeigneten Prädiktionshorizont eine Kompensation dieser Verzögerungen des geschlossenen Regelkreises 14 vorgenommen werden.By using a
Die Eigenschaft des Prädiktors 12 bedingt einen periodischen Verlauf der Eingangsgröße h t um einen möglichst genau Vorhersage h t+1 treffen zu können. Dies ist durch die Charakteristik der Wellen 1 und dem entsprechend auch der trägeren Bewegung h t des Schiffes 3 gegeben.The property of the
Zur Ermittlung der optimalen Prädiktionszeit wird eine offline Übertragungsfunktion des geschlossenen Regelkreises 14 durchgeführt. Des Weiteren wird bei der bekannten dominierenden Frequenz der Wellenbewegung h t (z.B. bei Jonswap Spektrum) die Phasenverschiebung des geschlossenen Regelkreises 14 bestimmt. Basierend auf der ermittelten Phasenverschiebung wird in Abhängigkeit der Update Rate die Prädiktionszeit bestimmt.To determine the optimal prediction time, an offline transfer function of the closed
Die über ein Summationsglied 23 gebildete Summe der prädiktierten zukünftigen Bewegung h t+1 und eines Benutzerkommandos eines Bedienelements 24 stellt den Eingang des Systems zur aktiven Wellengangskompensation gemäß dem Stand der Technik dar. Die innere Struktur des Systems des Standes der Technik muss nicht geändert werden.The sum of the predicted future movement h t + 1 and a user command of a
Eine Simulation beider Ausführungsbeispiele des erfindungsgemäßen Verfahrens und der erfindungsgemäßen Vorrichtung zur aktiven Wellengangskompensation kombiniert mit dem Prädiktor 12 wird in
In der Simulation anhand des Beispielschiffes 3 mit repräsentativen Bewegungsdaten h t konnte eine Performanceverbesserung der Kompensation der Schiffsbewegung h t erreicht werden.In the simulation on the basis of the
In Ergänzung zum oben beschriebenen Verfahren kann die Performance mit Hilfe einer Feed-Forward Inversion der Regelstrecke zusätzlich verbessert werden.In addition to the procedure described above, the performance can be further improved by means of a feed-forward inversion of the controlled system.
Ein Nachteil des oben beschriebenen Verfahrens besteht in der Notwendigkeit einer offline Phasenverzögerungsanalyse, welche durch eine Erweiterung gemäß
Ein adaptiver Regler 22 modifiziert seine Eigenschaften in Abhängigkeit der Prozessdynamik und der Charakteristik der Bewegung h t des Schiffs 3. Der Adaptionsprozess erfordert eine zusätzliche online Parameterschätzung mittels eines Parameter-Schätzers 26 des geschlossenen Regelkreises 14 in Echtzeit. Der Parameter-Schätzer 26 basiert auf einem Algorithmus der eine stabile Inversion des geschätzten Modells vornimmt. Die prädiktierte Bewegungsinformation wird in die Berechnung der Stellgröße des Adaptiv-Controllers miteinbezogen.An
Offenbart sind ein Verfahren und Vorrichtung zur aktiven Wellengangskompensation mit einer Prädiktion bzw. mit einem Prädiktor zur Abschätzung der zukünftigen Relativbewegung zwischen einer Last und einer Zielposition sowie einer adaptiven Regelung. Die Prädiktion erfolgt mit einem Recursive-Least-Squares-Algorithmus.Disclosed are a method and apparatus for active wave compensation with a prediction or with a predictor for estimating the future relative movement between a load and a target position and an adaptive control. The prediction is performed using a recursive least-squares algorithm.
- 11
- Wellewave
- 33
- schwimmende Einrichtung/ Schifffloating facility / ship
- 44
- Hubeinrichtung / KranLifting device / crane
- 66
- Windewinch
- 88th
- Zielposition / MeeresgrundTarget position / seabed
- 1010
- Messeinrichtungmeasuring device
- 1212
- Prädiktorpredictor
- 1414
- geschlossener Regelkreisclosed loop
- 1616
- Reglerregulator
- 1818
- Kurve ht Curve h t
- 1919
- Kurve Regelung gemäß Stand der TechnikCurve control according to the prior art
- 2020
- Kurve Regelung mit PhasenverschiebungCurve control with phase shift
- 2121
- Kurve adaptives VerfahrenCurve adaptive method
- 2222
- adaptiver Regleradaptive controller
- 2323
- SummationsgliedSummation member
- 2424
- Bedienelementoperating element
- 2626
- Parameter-SchätzerParameter Estimates
- hH tt
- aktuelle Relativgeschwindigkeit/ Bewegungcurrent relative speed / movement
- hH t+1t + 1
- zukünftige Relativgeschwindigkeit/ Bewegungfuture relative speed / movement
- mm
- Lastload
- zz
- Position der LastPosition of the load
- vv
- Geschwindigkeit der LastSpeed of the load
- ωω
- Drehgeschwindigkeit der WindeTurning speed of the winch
Claims (15)
- Method for active swell compensation, which is used to at least partially compensate for a relative movement (h t) between a target position (8) and a load (m), having the steps of:- measuring the current relative movement (ht), and- predicting the future relative movement (ht+1), characterized in that the prediction is based on a recursive least squares algorithm.
- Method according to Claim 1, wherein the target position (8) is at rest or is arranged on a floating device, and wherein the load (m) is coupled to a lifting device (4) of a floating device (3).
- Method according to Claim 2, wherein the measurement and the prediction are carried out for one of the six degrees of freedom of the at least one floating device (3) or for any desired combination of the degrees of freedom.
- Method according to one of the preceding claims, having the step of:- determining a dominant frequency of the relative movement (ht).
- Method according to one of the preceding claims, which is carried out with a closed control loop (14) .
- Method according to Claim 5, having the step of:- carrying out an offline calculation of the transfer function of the control loop (14).
- Method according to Claim 5 or 6, having the step of:- determining the phase shift of the control loop (14) .
- Method according to Claim 7, having the step of:- determining the prediction time in dependence on the update rate on the basis of the phase shift.
- Method according to Claim 5, having the step of:- carrying out a feed forward inversion of the closed control loop.
- Method according to Claim 9, having the step of:- modifying properties of an adaptive controller (22) in dependence on the relative movement (ht) and the process dynamics.
- Method according to Claim 9 or 10, having the step of:- carrying out an online parameter estimation of the closed control loop (14) in real time.
- Method according to Claim 11, wherein the step of:- carrying out the online parameter estimation is based on an algorithm which carries out a stable inversion of the estimated model.
- Apparatus for active swell compensation, which can be used to at least partially compensate for a relative movement (ht) between a target position (8) and a load (m), wherein the apparatus has a measuring device (10) for capturing the current relative movement (ht) and a predictor (12) for predicting the future relative movement (ht+1), characterized in that the predictor (12) is based on a recursive least squares algorithm.
- Apparatus according to Claim 13, which is designed to carry out the method according to one of Claims 2 to 12.
- Apparatus according to Claim 13 or 14, having a summation element (23) which can be used to add an output signal from the predictor (12) and an output signal from an operating element (24).
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EP (1) | EP3335977B1 (en) |
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CN108877372B (en) * | 2018-06-29 | 2024-02-23 | 山东大学 | Experimental device for active-passive wave compensation |
DE102019216366A1 (en) * | 2019-10-24 | 2021-04-29 | Robert Bosch Gmbh | System and procedure |
CN114933256B (en) * | 2022-05-31 | 2023-08-08 | 三一汽车起重机械有限公司 | Winch starting control method, device, equipment and crane |
CN115180084A (en) * | 2022-08-03 | 2022-10-14 | 苏州海希夫智控科技有限公司 | Wave compensation anti-swing method for active ship |
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US6216789B1 (en) | 1999-07-19 | 2001-04-17 | Schlumberger Technology Corporation | Heave compensated wireline logging winch system and method of use |
WO2006033165A1 (en) * | 2004-09-24 | 2006-03-30 | Mitsubishi Denki Kabushiki Kaisha | Armature movement detection apparatus and armature position estimation apparatus for an elevator brake |
CN103318776B (en) * | 2012-06-28 | 2016-01-20 | 上海振华重工(集团)股份有限公司 | Active heave heave compensation control system and control method |
DE102014224204A1 (en) * | 2014-11-27 | 2016-06-02 | Robert Bosch Gmbh | Method and device for guiding a load according to a target absolute trajectory specification by means of a vehicle, which is exposed to a fluid movement of a fluid |
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Non-Patent Citations (4)
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A.H. SAYED ; T. KAILATH: "A state-space approach to adaptive RLS filtering", IEEE SIGNAL PROCESSING MAGAZINE., IEEE SERVICE CENTER, PISCATAWAY, NJ., US, vol. 11, no. 3, 1 July 1994 (1994-07-01), US, pages 18 - 60, XP011423150, ISSN: 1053-5888, DOI: 10.1109/79.295229 |
D. P. MANDIC ET AL.: "On the Intrinsic Relationship Between the Least Mean Square and Kalman Filters [Lecture Notes", IEEE SIGNAL PROCESSING MAGAZINE, vol. 32, no. 6, November 2015 (2015-11-01), pages 117 - 122, XP011586926, DOI: 10.1109/MSP.2015.2461733 |
GODHAVN J.-M.: "Adaptive tuning of heave filter in motion sensor", OCEANS '98 CONFERENCE PROCEEDINGS NICE, FRANCE 28 SEPT.-1 OCT. 1998, NEW YORK, NY, USA,IEEE, US, vol. 1, 28 September 1998 (1998-09-28) - 1 October 1998 (1998-10-01), US, pages 174 - 178, XP010311769, ISBN: 978-0-7803-5045-8, DOI: 10.1109/OCEANS.1998.725731 |
SEBASTIAN KÜCHLER: "Aktive Seegangskompensation mit beobachtergestützter Prognose der vertikalen Schiffsbewegung", INSTITUT FÜR SYSTEMDYNAMIK DER UNIVERSITÄT STUTTGART, vol. 11, 7 May 2012 (2012-05-07) |
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