Optimal heading control method of ocean observation platform

A technology of observation platform and control method, applied in two-dimensional position/channel control, adaptive control, general control system and other directions, can solve the problem of impossible to accurately calculate the magnitude and direction of environmental forces

Active Publication Date: 2018-02-27
HARBIN ENG UNIV
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Problems solved by technology

The main feature of this method is that it does not require any environmental force measurement device to enable the ship to work at the optimal yaw angle, which is very important for offshore operating systems, because it is impossible to accurately calculate the environmental effects magnitude and direction of force

Method used

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  • Optimal heading control method of ocean observation platform
  • Optimal heading control method of ocean observation platform
  • Optimal heading control method of ocean observation platform

Examples

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Embodiment Construction

[0072] The following examples describe the present invention in more detail.

[0073] 1. First refer to the attached figure 1 Introducing the optimal heading definition as described:

[0074] (1) Assuming that the ocean current is steady and irrotating, then the disturbance force under the disturbance of the ocean current can be considered as:

[0075] w=[w u ,w v ,w r ] T =[w u ,w v ,0] T

[0076] (2) Steady flow disturbance force F c The force acting on the ocean observation platform in the satellite coordinate system in different flow directions:

[0077]

[0078] In the formula: β e Indicates the angle of the flow disturbance in the fixed coordinate system, and ψ indicates the current heading angle.

[0079] Then its total force can be expressed as:

[0080] f w =F c |cos(β e -ψ)|+F c |sin(β e -ψ)|

[0081] It can be seen from the above formula that when β e =ψ, the total force of the flow disturbance on the platform is the smallest. For the observa...

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Abstract

The invention provides an optimal heading control method of an ocean observation platform. The method comprises the steps of 1, inputting a desired position [xd yd] of the ocean observation platform;2, considering a derivative of the position information of the ocean observation platform as the input of an extended state observer, and judging the quadrant to which an ocean current force directionbeta-e belongs, and the formula is shown in the description; 3, selecting a circle center according to the quadrant of the ocean current force direction which is obtained in the step 2; 4, controlling the optimal heading position when the ocean observation platform moves around the circle center p-rho by using a radius rho, and ensuring that during movement, the heading of the ocean observation platform faces the selected circle center p-rho all the time. The optimal heading control method of the ocean observation platform can enable power positioning of the ocean observation platform to usepropellers as few as possible, accordingly, the observation platform reaches the optical heading in a minimum heading angle, the control is simpler and more efficient, and energy is conserved.

Description

technical field [0001] The invention relates to a control method of an ocean observation platform, in particular to a control method of a vertically and horizontally symmetrical ocean observation platform. Background technique [0002] With the expansion of the depth and breadth of ocean development and the rapid development of deep-sea observation technology, ocean observation platforms emerged as the times require. In some operational tasks, the observation platform needs to hover at a fixed point, so dynamic positioning technology is used. The control strategy of dynamic positioning technology needs to be determined by referring to the specific characteristics of specific observation platforms. For some ocean observation platforms that are completely symmetrical in vertical and horizontal directions and propeller layout, the optimal heading can be selected, and then the number of propellers as few as possible can be selected. To resist the interference of ocean currents, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05D1/0206
Inventor 李晔王友康张伟安力孙叶义姜言清何佳雨郭宏达丛正潘凯文
Owner HARBIN ENG UNIV
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