Velocity Estimation System and Method for Vessel Dynamic Positioning Based on Disturbance Compensation
A technology of dynamic positioning and disturbance compensation, applied in general control systems, control/adjustment systems, two-dimensional position/channel control, etc., can solve problems such as large influence, gap, inaccuracy, etc., achieve wide application range and improve accuracy , the effect of reducing complexity
Active Publication Date: 2015-12-02
HARBIN ENG UNIV
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Problems solved by technology
Usually, the speed value of the ship can be obtained by position differentiation, but measurement devices such as GPS have non-negligible measurement noise. The existence of measurement noise makes the speed value obtained by differentiation often inaccurate, and the slow-varying interference force is The observation of the ship state has a great influence, so that there is a large gap between the observed value and the actual value
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[0016] The present invention will be described in more detail below in conjunction with the accompanying drawings.
[0017] The ship dynamic positioning speed estimation system based on disturbance compensation provided by the present invention includes a dynamic positioning ship 2, a thruster 3, a sensor system 4, an external force estimation system 6, and a state observer 9;
[0018] (1) Sensor system: The sensor system 4 includes a wind sensor 5, a compass 11 and a DGPS 12. The wind sensor transmits the measured relative wind speed and relative wind angle information to the wind compensator 10 in real time, and the compass and DGPS transmit the measured ship position and The heading information is passed to the state observer 9 .
[0019] (2) External force estimation system: the external force estimation system 6 includes a thrust compensator 7, a wind force compensator 10, and a slow-varying disturbance compensator 8; the thrust compensator 7 includes the propeller config...
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The invention provides a ship dynamic positioning speed estimation system and method based on interference compensation. The system comprises a dynamic positioning ship (2), a propeller (3), a sensor system (4), an external force estimation system (6) and a state observer (9). The sensor system (4) comprises a wind sensor (5), a compass (11) and a DGPS (12). The external force estimation system (6) comprises a thrust compensator (7), a wind power compensator (10) and a slow-changing interference compensator (8). On the basis of the non-linear passive state observer, a resultant force compensation system is added, through modeling analysis on system and environment force, an interference observer is used for carrying out approaching on slow-changing interference, compensation is carried out in an observing system, the complexity of the state observer is lowered, speed observation accuracy is improved, and influence on ship state observing from slow-changing interference force is lowered.
Description
technical field [0001] The invention relates to a ship dynamic positioning speed estimation system, and the invention also relates to a ship dynamic positioning speed estimation method. Background technique [0002] Dynamic positioning is the adjustment of the ship's propeller thrust to automatically maintain its position and heading, and it is mostly used in high-risk offshore engineering operations. The rules of the International Maritime Organization and the classification societies of various countries require that dynamic positioning ships be equipped with corresponding types and quantities of position reference and sensor systems according to the class they enter. Therefore, how to effectively use the measurement information of various sensors to achieve accurate estimation of the ship’s motion state Then improving the safety, reliability and performance of dynamic positioning system has become an urgent problem to be solved. In dynamic positioning, parameters such as...
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IPC IPC(8): G05B13/04G05D1/02
Inventor 夏国清庞程程刘菊
Owner HARBIN ENG UNIV