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Geometric coordinate transformation guidance control method for dynamic positioning ship to realize positioning rotation

A technology of positioning rotation and dynamic positioning, applied in the field of PID control, can solve problems such as no implementation method given

Active Publication Date: 2015-09-30
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

International mainstream dynamic positioning products already include the function of positioning and rotation. Nordic Norway Kongsberg company has conducted some research on positioning and rotation. Its product manual "Kongsberg -SDP Dynamic Positioning System" gives some descriptions and functional overviews about positioning and rotation, but does not give the implementation method

Method used

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  • Geometric coordinate transformation guidance control method for dynamic positioning ship to realize positioning rotation
  • Geometric coordinate transformation guidance control method for dynamic positioning ship to realize positioning rotation
  • Geometric coordinate transformation guidance control method for dynamic positioning ship to realize positioning rotation

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Embodiment Construction

[0061] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0062] The flow chart of the guidance control method for positioning and rotating a dynamically positioned ship around a given rotation center based on the PID control method proposed by the present invention is shown in the attached figure 1 And attached figure 2 as shown, figure 2 The method of obtaining the middle heading deviation is as follows: image 3 As shown, the main steps of the method are as follows:

[0063] (1) Establish the kinematics and dynamics model of the low-speed motion of the ship

[0064] as attached Figure 4 As shown, the origin of the geodetic coordinates is selected as O E , North is the true north direction, East is the true east direction, n represents the north position coordinate, e represents the east position coordinate, ψ represents the ship heading angle (the angle between the ship heading and the true north directio...

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Abstract

The invention discloses a geometric coordinate transformation guide control method for achieving positioning rotation of a dynamic positioning ship. The geometric coordinate transformation guide control method for achieving positioning rotation of the dynamic positioning ship comprises the steps of (1) setting target heading of the dynamic positioning ship and a hull coordinate of the center of rotation, calculating an expected track of the dynamic positioning ship in the process of positioning rotation by combining a mathematic model of movement of the dynamic positioning ship and introducing a geometric coordinate transformation guide strategy, (2) calculating an expected heading and an expected position of the dynamic positioning ship at the current moment, and (3) applying a PID control algorithm to obtain force and torque needed for controlling longitudinal movement, transverse movement and yawing of the dynamic positioning ship to enable the dynamic positioning ship to reach the expected position and the expected heading so as to achieve the positioning rotation, of the dynamic positioning ship, around the center of the rotation according to the difference between an actual position at the current moment and the expected position and the difference between an actual heading at the current moment and the expected heading. The geometric coordinate transformation guide control method for achieving positioning rotation of the dynamic positioning ship does not need to change a thrust distribution center, can ensure the fact that a positioning rotation system is in a closed-loop control loop, improves accuracy of control, and is simple and practicable in process of calculation, and applicable to operation of ocean engineering.

Description

technical field [0001] The invention relates to a PID control method for controlling a dynamic positioning ship to realize positioning and rotation around any given rotation center, in particular to a geometric coordinate transformation guidance control method for a dynamic positioning ship to realize positioning and rotation. Background technique [0002] Dynamic positioning ships are widely used in marine engineering because of their high positioning accuracy and flexible maneuverability. Therefore, the ship dynamic positioning control system that can ensure the accurate operation of dynamic positioning ships has become a hot issue in the field of scientific research and engineering practice. The ship dynamic positioning control system includes many functions, such as joint joystick, automatic positioning, automatic heading, automatic track, automatic rudder, etc. Among these functions, the default ship motion center is the geometric center of the ship, and the control tar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12G05B13/04
Inventor 付明玉张爱华
Owner HARBIN ENG UNIV
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