Multi-ship dynamic positioning cooperative control system

Abstract

The invention discloses a multi-ship dynamic positioning cooperative control system, and relates to the technical field of ship control. The invention aims to realize high-precision control of multi-ship dynamic positioning collaborative operation during carrying of marine goods and assembly and disassembly of a platform. According to the multi-ship dynamic positioning cooperative control system, multi-ship dynamic positioning operation is equivalent to virtual single-ship dynamic positioning operation through rigid contact, unmeasurable interference generated by internal rigid contact does not need to be considered, the operation risk is remarkably reduced, meanwhile, the working intensity of operators is relieved, and the working efficiency is improved. And the operation safety is enhanced to a certain extent.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship control, and in particular relates to the control of coordinated operation of multiple dynamic positioning ships. Background Art

[0002] Generally, the design life of an offshore platform is about 20 years. According to relevant regulations, if there is no other use, it must be abandoned and dismantled after the expiration of its operating life. This is of great significance to protecting the marine environment, navigation and fishery production in the operating area.

[0003] According to the offshore oil platform regulations, the disposal of offshore platforms can be divided into three categories: on-site abandonment, off-site abandonment and conversion to other uses. Abandoned platforms that hinder the use of the dominant functions of the ocean must be completely dismantled. As time goes by, more and more offshore platforms will need to be dismantled in the future. The market prospects for platform dismantling business are very broad. In the world, more than 6,500 offshore oil platforms will need to be dismantled in the future.

[0004] Dismantling is usually carried out in reverse assembly process, which is the opposite of assembly process. Dismantling, assembly and towing offshore drilling platforms usually involve the collaborative operation of multiple ships. The operation safety of collaborative dynamic positioning ships is extremely important, and the multi-ship collaborative dynamic positioning module is a key equipment to ensure the safety of dismantling, assembly and towing offshore drilling platforms. Summary of the invention

[0005] The present invention is to realize high-precision control of multi-ship dynamic positioning collaborative operations during cargo transportation, platform assembly and disassembly at sea, and now provides a multi-ship dynamic positioning collaborative control system.

[0006] A multi-ship dynamic positioning collaborative control system, each dynamic positioning ship is equipped with a shipboard system, and each shipboard system includes a data sharing module, a dynamic positioning module, a configuration set module and a control right switching module;

[0007] The data sharing module is used to receive the navigation data of the dynamic positioning ship and send the navigation data to other data sharing modules, and is also used to receive the navigation data of other dynamic positioning ships and send the navigation data to the dynamic positioning module of the dynamic positioning ship. Multiple data sharing modules communicate data through a redundant network so that multiple shipborne systems maintain data synchronization. The navigation data includes: the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning ship;

[0008] The configuration set module has multiple sets of different configuration information built in, the configuration information includes the coordinates, sensor positions, thruster positions, thruster parameters and control parameters of the collaborative group, the collaborative group is a whole composed of multiple dynamic positioning vessels and pack objects participating in the operation, and the configuration set module is used to send corresponding configuration information to the dynamic positioning module according to the operation requirements sent by the dynamic positioning module;

[0009] The control right switching module is used to adjust the dynamic positioning module of the dynamic positioning ship to obtain or lose the control right of the thrusters in other dynamic positioning ships;

[0010] The dynamic positioning module is used to collect navigation data of the dynamic positioning ship and send the navigation data to the data sharing module of the dynamic positioning ship. It is also used to generate operation requirements according to the control right of the dynamic positioning ship and send them to the configuration set module. It is also used to control the dynamic positioning ship or the cooperative group according to the navigation data and configuration information.

[0011] Furthermore, the configuration set module is also used to: when there is no configuration information adapted to the current job requirement within the configuration set module, generate configuration information according to the current job requirement.

[0012] Furthermore, the above-mentioned dynamic positioning module includes: a measurement unit, a propulsion unit and a control unit;

[0013] The measurement unit is used to collect the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning vessel;

[0014] The propulsion unit is used to control the propeller of the dynamic positioning vessel or the cooperative group according to the operation mode;

[0015] The control unit is used to monitor the navigation data of the dynamic positioning vessel to estimate the current state of the dynamic positioning vessel, and is also used to generate an operation mode according to the state and configuration information and send it to the propulsion unit.

[0016] Furthermore, the above-mentioned dynamic positioning module also includes: a power unit,

[0017] The power unit is used to provide power for the measurement unit, propulsion unit, control unit, data sharing module, configuration set module and control right switching module.

[0018] Furthermore, the above-mentioned multiple data sharing modules form a redundant network through satellite links, radio or 5G networks.

[0019] Disassembling, assembling and towing offshore drilling platforms involve rigid contact between multiple ships and the disassembling / assembling / towing targets. This rigid contact will cause each dynamically positioned ship to be subjected to unmeasurable interference forces and torques. When performing single-ship dynamic positioning or multi-ship distributed collaborative dynamic positioning operations, if these interferences are not considered, the ship's dynamic positioning operation will be affected to varying degrees, which may affect its dynamic positioning performance and produce ineffective energy consumption, or even cause material damage, personal injury, and the risk of ship capsizing. To this end, the present invention proposes a multi-ship dynamic positioning collaborative control system, which uses rigid contact to make the multi-ship dynamic positioning operation equivalent to a virtual single-ship dynamic positioning operation, without having to consider the unmeasurable interference caused by internal rigid contact, significantly reducing the operational risk, while reducing the workload of operators and enhancing the safety of the operation to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall principle block diagram of a multi-ship dynamic positioning cooperative control system. DETAILED DESCRIPTION

[0021] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0022] Reference Figure 1 The present embodiment is described in detail. The present embodiment describes a multi-vessel dynamic positioning collaborative control system. Taking two dynamic positioning vessels carrying a load at the same time as an example, dynamic positioning vessel A and dynamic positioning vessel B are rigidly connected by the load to form a whole, i.e., a collaborative group, which has a new main dimension, displacement, configuration, motion characteristics and center.

[0023] In this embodiment, each dynamic positioning ship is equipped with a shipboard system, each shipboard system includes a data sharing module, a dynamic positioning module, a configuration set module and a control right switching module. The dynamic positioning module includes: a measurement unit, a propulsion unit, a control unit and a power unit.

[0024] The data sharing module is used to receive the navigation data of the dynamic positioning ship and send the navigation data to other data sharing modules; it is also used to receive the navigation data of other dynamic positioning ships and send the navigation data to the dynamic positioning module of the dynamic positioning ship for use by the dynamic positioning module, so that each ship can grasp the status of all ships in the collaborative group in real time. Multiple data sharing modules communicate data through a redundant network formed by satellite links, radio or 5G networks, so that multiple shipborne systems maintain data synchronization. The navigation data includes: the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning ship.

[0025] The configuration set module has multiple sets of different configuration information built in, and the configuration information includes the coordinates, sensor positions, thruster positions, thruster parameters and control parameters of the collaborative group. The configuration set module is used to send corresponding configuration information to the dynamic positioning module according to the operation requirements sent by the dynamic positioning module. When there is no configuration information adapted to the current operation requirements in the configuration set module, it is also used to create new configuration information according to the current operation requirements.

[0026] The control right switching module is used to adjust the dynamic positioning module of the dynamic positioning ship to obtain or lose the control right of the thrusters in other dynamic positioning ships.

[0027] The dynamic positioning module is used to realize the functions of ship positioning, orientation, target tracking, low-speed tracking, etc.; the measurement unit measures the navigation data of the dynamic positioning ship, and sends the navigation data to the control unit and the data sharing module of the dynamic positioning ship; it is also used to select the corresponding configuration in the configuration set module according to the control status and operation requirements of the dynamic positioning ship. The control instructions of the control unit can also be transmitted in the collaborative group through the shared data model to ensure that the control unit of each ship can control all thrusters in the collaborative group.

[0028] Specifically, the dynamic positioning module includes: a measurement unit, a propulsion unit, a control unit and a power unit.

[0029] The measurement unit is used to collect the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning vessel.

[0030] The propulsion unit is used to control the thrusters of the dynamic positioning vessel or the coordinated group according to the operation mode. The control includes the control of the single ship thruster and the other propulsion units in the joint coordinated group. The final thrust force is used to resist external interference force to achieve the control purpose.

[0031] The control unit is used to monitor the navigation data of the dynamic positioning vessel to estimate the current state of the dynamic positioning vessel, and is also used to generate an operation mode based on the state and configuration information and send it to the propulsion unit. Specifically, the control unit performs quality detection and filtering on the navigation data of the measurement unit to estimate the state of the dynamic positioning vessel. It also solves the control instructions according to the operation mode, and converts the control instructions into relevant propeller instructions after obtaining the thrust required to be provided by each propeller of the propulsion unit through the thrust distribution optimization algorithm.

[0032] The power unit is used to provide power for the measurement unit, propulsion unit, control unit, data sharing module, configuration set module and control right switching module to meet the energy consumption of each device during operation.

[0033] In actual application of this embodiment, the dynamic positioning module can select corresponding configuration information in the configuration set module according to the specific operation requirements, or create new configuration information according to the actual operation requirements to adapt to the actual situation of the current collaborative group and ensure control performance.

[0034] The control right switching module of each ship can realize the control right switching of the propeller, including the control right of the propeller of a single ship, the control right of the propeller in the collaborative group, etc., to ensure that the dynamic positioning module of each ship can obtain the control right of the propeller of each ship in the collaborative group as needed. Specifically, after the dynamic positioning module obtains the control right of all propellers through the control right switching module, the dynamic positioning module can select different configurations in the configuration set module as needed to adapt to the dynamic positioning operation of a single ship or different collaborative dynamic positioning operations. When performing a single-ship dynamic positioning operation, the preset single-ship configuration information in the configuration set module can be selected, and when performing a collaborative operation, the configuration information matching the new collaborative group formed with the collaborative ship can be selected. If the configuration set module does not contain a configuration matching the collaborative ship, new configuration information can be created as needed to ensure the control performance of the control unit. At the same time, since the dynamic positioning modules are essentially connected together through a network, the systems are redundant with each other, which increases the redundancy of the overall system and improves the reliability of the entire system.

[0035] Taking the center of the collaborative group as the coordinate origin of the multi-ship dynamic positioning collaborative control unit, the installation positions of each sensor and thruster will also change, and need to be reassigned in the configuration set module. The installation position of the sensor is used to correct the measurement information of the position reference system, etc. The thruster position and parameters are used to distribute the thrust of the new collaborative group. The overall model parameters and control parameters are used for high-precision control based on the model, and the power parameters are used for real-time power monitoring and power failure protection and other safety operations; in addition, new configurations can be created as needed to adapt to new collaborative operation requirements that are not within the preset configuration range.

[0036] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A multi-ship dynamic positioning cooperative control system, characterized in that: Each dynamic positioning vessel is equipped with a shipboard system, each of which includes a data sharing module, a dynamic positioning module, a configuration set module and a control authority switching module; The data sharing module is used to receive the navigation data of the dynamic positioning ship and send the navigation data to other data sharing modules, and is also used to receive the navigation data of other dynamic positioning ships and send the navigation data to the dynamic positioning module of the dynamic positioning ship. Multiple data sharing modules communicate data through a redundant network so that multiple shipborne systems maintain data synchronization. The navigation data includes: the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning ship; The configuration set module has multiple sets of different configuration information built in, the configuration information includes the coordinates, sensor positions, thruster positions, thruster parameters and control parameters of the collaborative group, the collaborative group is a whole composed of multiple dynamic positioning vessels and pack objects participating in the operation, and the configuration set module is used to send corresponding configuration information to the dynamic positioning module according to the operation requirements sent by the dynamic positioning module; The control right switching module is used to adjust the dynamic positioning module of the dynamic positioning ship to obtain or lose the control right of the thrusters in other dynamic positioning ships; The dynamic positioning module is used to collect navigation data of the dynamic positioning ship and send the navigation data to the data sharing module of the dynamic positioning ship. It is also used to generate operation requirements according to the control right of the dynamic positioning ship and send them to the configuration set module. It is also used to control the dynamic positioning ship or the cooperative group according to the navigation data and configuration information.

2. A multi-vessel dynamic positioning coordinated control system according to claim 1, characterized in that: The configuration set module is also used to: when there is no configuration information adapted to the current job requirement within the configuration set module, generate configuration information according to the current job requirement.

3. A multi-vessel dynamic positioning coordinated control system according to claim 1 or 2, characterized in that: The dynamic positioning module includes: a measurement unit; The measuring unit is used to collect the position, attitude, environment, propulsion information, control information and power information of the dynamic positioning vessel.

4. A multi-vessel dynamic positioning coordinated control system according to claim 3, characterized in that: The dynamic positioning module also includes: a propulsion unit and a control unit; The propulsion unit is used to control the propeller of the dynamic positioning vessel or the cooperative group according to the operation mode; The control unit is used to monitor the navigation data of the dynamic positioning vessel to estimate the current state of the dynamic positioning vessel, and is also used to generate an operation mode according to the state and configuration information and send it to the propulsion unit.

5. A multi-vessel dynamic positioning coordinated control system according to claim 4, characterized in that: The dynamic positioning module also includes: a power unit, The power unit is used to provide power for the measurement unit, propulsion unit, control unit, data sharing module, configuration set module and control right switching module.

6. A multi-vessel dynamic positioning cooperative control system according to claim 1, 2, 4 or 5, characterized in that: The multiple data sharing modules form a redundant network through satellite links, radio or 5G networks.

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