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Path tracking guiding control method of dynamic positioning ship

A control method and dynamic positioning technology, applied in two-dimensional position/channel control, adaptive control, general control system and other directions

Active Publication Date: 2014-02-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The dynamic positioning product developed by Harbin Engineering University also realizes the high-speed tracking function, but there is no relevant literature to introduce it

Method used

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  • Path tracking guiding control method of dynamic positioning ship
  • Path tracking guiding control method of dynamic positioning ship
  • Path tracking guiding control method of dynamic positioning ship

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0123] In order to verify the validity and effect of the method of the present invention, a simulation test is carried out using a dynamic positioning ship hardware-in-the-loop system simulation platform. This embodiment comprises the following steps:

[0124] 1) Experimental conditions

[0125] ① Use the mathematical model given in step (2) above to describe the DP ship, and the specific parameters are selected as follows:

[0126] Length: 99.5m;

[0127] Ship quality: 3100 tons;

[0128] Ship width: 15.2m;

[0129] Draft: 5.6m.

[0130] ② Use the thruster system and thrust distribution unit that comes with the simulation platform.

[0131] ③The sampling time of the system is 0.3s;

[0132] 2) Initial value setting

[0133] Set the desired speed: 3m / s;

[0134] Set waypoints: (00), (1006.7110.0671), (1600.67906.644), (1379.192114.09), (503.3562617.45), (-281.8792013.42) and (-291.946936.242);

[0135] Ship initial position and heading: (0, 0, 0);

[0136] Ship initi...

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Abstract

The invention discloses a path tracking guiding control method of a dynamic positioning ship. The path tracking guiding control method of the dynamic positioning ship comprises the steps that (1) a geodetic coordinate system, a hull coordinate system and a mathematical model of the ship are built; (2) a guiding strategy is generated through by setting the geometrical position relation between a path generated by path points and the ship, and the expected heading of the ship at the current moment is calculated; (3) control moment needed by controlling the ship to achieve the expected heading is obtained through application of a control algorithm; (4) longitudinal thrust needed by controlling the ship to be at the expected movement speed is calculated. According to the path tracking guiding control method of the dynamic positioning ship, the expected heading, on a high-speed path tracking linear section, of the ship and the expected heading, on a high-speed path tracking turning section, of the ship are calculated according to track information and the relative position between the flight path and the ship, the movement speed of the ship is controlled through the longitudinal thrust, the calculation process is simple and easy to implement, and the path tracking guiding control method of the dynamic positioning ship is applicable to engineering application.

Description

technical field [0001] The invention relates to an underactuated path tracking control method for a dynamic positioning ship using segmented geometric guidance strategies for straight track segments and turning track segments, and only using longitudinal speed control and heading angle control, in particular to a dynamic positioning A ship tracking guidance control method. Background technique [0002] Tracking function, also called path tracking, is an important function of dynamic positioning ships and an integral part of dynamic positioning system, which plays an important role in marine operations and marine transportation. Depending on the task and the speed of the ship, tracking can be divided into low-speed tracking and high-speed tracking. Low-speed tracking generally refers to tracking with a speed below 3 knots, while high-speed tracking is generally considered to be higher than 3 knots. The search of the seabed and the completion of special tasks such as pipe lay...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
Inventor 付明玉张爱华余玲玲谢笑颖焦建芳
Owner HARBIN ENG UNIV
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