High-fidelity dynamic positioning collaborative simulation system

Abstract

The invention discloses a high-fidelity dynamic positioning co-simulation system, and relates to the technical field of simulation. Comprising a water power module, a sensor module, a propulsion system module, a VR (Virtual Reality) virtual guide module, a real-time target machine and synchronization mechanism and a dynamic uncertainty model. All the modules operate independently through a TCP / IP protocol, and real-time interaction of a data warehouse is achieved. The system has the advantages of high-fidelity modeling, real-time man-machine collaboration and flexible expansion, and supports complex scenes such as floating installation and double-ship collaboration.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology, and in particular to a high-fidelity dynamic positioning co-simulation system. Background Art

[0002] The limitations of existing dynamic positioning (DP) simulation technologies are mainly reflected in the following aspects:

[0003] 1. Model simplification and lack of coupling

[0004] Traditional numerical simulations (such as DP-MSim) use a 3-degree-of-freedom hydrodynamic model:

[0005]

[0006] This model ignores the multi-degree-of-freedom coupling effects such as ship heave and roll, and cannot simulate the constraints of fixed structures on ship motion during floating installation. For multi-body coupling scenarios (such as dual-ship cooperative operations), it is necessary to extend to a 6-degree-of-freedom model:

[0007] Mv + C(v)v + D(v)v = τ + τ e +τ s

[0008] M = M + ΔM, C(v) = C + ΔC, D(v) = D + ΔD

[0009] However, the platforms studied by the 6N-DOF model have not achieved the dynamic calculation of non-diagonal matrices.

[0010] 2. System isolation and poor algorithm compatibility

[0011] Commercial simulators (such as SRDP-ESim), as Figure 1 shown, use a serial data stream architecture, with highly encapsulated modules, making it difficult to independently optimize the controller or integrate new algorithms.

[0012] The inputs of modules such as sensors and propulsion systems are idealized (such as ignoring GPS signal loss and thruster efficiency loss), resulting in a significant deviation between the simulation results and sea trials.

[0013] 3. Lack of human-machine interaction and scene flexibility

[0014] Existing DP training simulators do not implement the operator's human-in-the-loop (HIL), and cannot dynamically switch complex scenarios (such as sudden system failures and multi-ship cooperation); moreover, the visualization system only provides a static perspective and lacks a collision warning function under VR guidance.

[0015] Therefore, those skilled in the art are committed to developing a high-fidelity dynamic positioning co-simulation system. Summary of the Invention

[0016] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is the limitation of dynamic positioning simulation technology, and to provide a high-fidelity dynamic positioning co-simulation system based on distributed modules and real-time target machines.

[0017] To achieve the above object, the present invention provides a high-fidelity dynamic positioning co-simulation system, which adopts a distributed module architecture. The modules operate independently through the TCP / IP protocol, and the data warehouse conducts real-time interaction.

[0018] Furthermore, it includes a hydrodynamic module, a sensor module, and a propulsion system module.

[0019] Furthermore, for the hydrodynamic module, based on Orcaflex, it realizes 6-degree-of-freedom (DOF) multi-body coupling, and dynamically calculates the composite load of wind, wave and current as well as elastic collision.

[0020] Furthermore, for the sensor module, in the Simulink toolbox of Matlab software, it simulates the loss of GPS signal and the slow drift of the gyroscope, and supports the injection of random noise.

[0021] Furthermore, for the propulsion system module, it simulates the thrust decay and uncertainty of the propeller.

[0022] Furthermore, for the propulsion system module, it simulates the efficiency loss of the thrust generated by the rudder and the correction of the rudder effect angle.

[0023] Furthermore, it also includes a real-time target machine, which is equipped with a Real Time Operational System (RTOS) and synchronizes the physical time through hardware triggering.

[0024] Furthermore, it also includes a synchronization mechanism, which adopts a data warehouse, and the modules call data according to time steps.

[0025] Furthermore, it also includes a VR virtual guidance module, which generates a three-dimensional model of the ship's 6-degree-of-freedom motion and the environment through the Unity engine.

[0026] Furthermore, for the VR virtual guidance module, it calculates the collision risk in real time and gives a prompt.

[0027] Traditional simulation models are over-simplified, ignoring multi-body coupling and real environment interference. An invention of a distributed real-time dynamic positioning co-simulation system (DRDP-CSim), the structural block diagram is as Figure 2As shown in the figure. Each module of the present invention (hydrodynamics, sensors, propulsion system, VR, etc.) operates independently through the TCP / IP protocol, and the data warehouse realizes real-time interaction. Hydrodynamics module: Based on Orcaflex, 6-degree-of-freedom multi-body coupling is realized, and the combined loads of wind, wave and current and elastic collisions are dynamically calculated. Sensor module: Simulate GPS signal loss and gyro slow drift in Simulink, and support random noise injection. The present invention supports complex scenarios such as floating installation and dual-ship cooperation, and the simulation error is reduced by 30% compared with the traditional model.

[0028] The existing serial data stream architecture limits algorithm testing and scenario expansion. The present invention has a real-time target machine and a synchronization mechanism. Hardware layer: The SpeedGoat real-time target machine is equipped with an RTOS, and physical time synchronization is ensured through hardware triggering. Data layer: Adopt the "data warehouse" strategy, and external modules (such as Orcaflex) call data according to time steps to avoid time asynchrony. The present invention realizes real-time control by the operator (HIL), and the synchronization error between simulation and sea trial time is <1ms.

[0029] The existing sensors and propulsion systems are idealized and lack real noise simulation. The present invention has a dynamic uncertainty model. Sensors: Introduce random seed configuration noise to dynamically simulate GPS signal loss and wind sensor noise. Propulsion system: The thrust calculation includes an efficiency loss coefficient and rudder effect correction to simulate thrust attenuation in actual working conditions. The present invention verifies the robustness of the controller when the GPS fails and the propulsion efficiency drops to 80%.

[0030] The existing operator's perspective is limited and lacks three-dimensional visualization assistance. The present invention has a VR virtual guidance system. Visual layer: Generate a three-dimensional model of the ship's six-degree-of-freedom motion and environment through the Unity engine. Function layer: Real-time calculate the collision risk (such as the leg mating unit LMU and the deck support unit DSU), and highlight it in red. The operator's response time of the present invention is shortened by 40%, and the floating docking success rate is increased to 95%.

[0031] Compared with the prior art, the present invention has the following obvious substantial features and remarkable advantages:

[0032] 1. Technical advantages:

[0033] 1. High-fidelity modeling: Adopt a 6-degree-of-freedom multi-body coupling hydrodynamic model, support complex scenarios such as floating installation and dual-ship cooperation, and the simulation error is reduced by 30% compared with the traditional 3-degree-of-freedom model; Dynamically simulate sensor noise, propulsion efficiency loss and environmental mutations (such as wave spectrum switching), covering more than 90% of the actual sea trial conditions.

[0034] 2. Real-time human-machine collaboration: Based on the SpeedGoat hardware platform and RTOS, the physical time synchronization error between modules is achieved to be less than 1 ms, ensuring the real-time control of the operator (DPO) is consistent with sea trials. The VR virtual guidance system provides six-degree-of-freedom motion visualization and collision warning, reducing the operator's response time by 40% and increasing the success rate of complex operations to 95%.

[0035] 3. Flexible scalability: The modular design supports the independent optimization of subsystems such as hydrodynamic and sensors without reconstructing the overall architecture, shortening the new algorithm integration cycle by 50%. Compatible with third-party software (such as OrcaFlex, Unity) through the LAN-TCP / IP protocol and adapting to various controllers (such as K-Pos, MPC), meeting the highest-level simulation certification requirements of DNV (DNV, 2011).

[0036] 2. Performance indicators:

[0037] 1. Steady-state DP positioning error: <0.5 m in the X / Y direction (fully automatic mode).

[0038] 2. Sensor failure tolerance: When GPS is lost, the low-frequency drift is <2 m, and the controller restores positioning through the wind force and bias model.

[0039] 3. Thrust uncertainty control: When the propulsion efficiency is lost to 80%, the thrust is optimized and redistributed through the quadratic programming algorithm (QP, Quadratic Programming), and the increase in positioning error is <1.2 m.

[0040] 4. System synchronization error: <1 ms (triggered by SpeedGoat hardware).

[0041] 5. Data throughput: Support 1000 times of inter-module data interaction per second (LAN-TCP / IP protocol).

[0042] 6. Support 6 typical DP operation scenarios (such as floating installation, dual-ship collaboration, sudden failure, etc.), and the scenario switching time is <10 seconds.

[0043] 3. Feasibility of production implementation:

[0044] 1. Hardware compatibility: The core real-time platform uses a commercial SpeedGoat target machine, which does not require custom development and can be directly purchased and deployed. The interfaces of sensors and thrusters are compatible with industrial standard protocols (such as CAN bus, Modbus) and are adapted to mainstream DP devices.

[0045] 2. Software Ecosystem: Build modules based on mature software such as Simulink, OrcaFlex, and Unity to reduce development costs and learning thresholds. Provide API interfaces to support the access of third-party algorithms (such as sensor fusion algorithms and modern control algorithms) to meet the customized needs of enterprises.

[0046] 3. Maintenance and Upgrade: The distributed architecture allows for modular upgrades. For example, the hydrodynamic model can be replaced with a higher-precision solver (such as ANSYS AQWA) without downtime for maintenance.

[0047] 4. Industrial Application Prospects:

[0048] 1. Ship and Ocean Engineering:

[0049] Sea Trial Substitution: Reduce the number of actual sea trials through high-fidelity simulation, with the single-project cost reduced by more than 50%.

[0050] DP Controller Development: Provide an algorithm testing platform for enterprises such as Kongsberg and GE to accelerate the new product iteration cycle.

[0051] 2. Operator Training and Certification:

[0052] DPO Simulation Training: The VR system combined with the HIL mechanism can simulate extreme scenarios such as typhoons and collisions, which helps improve training efficiency.

[0053] DNV Certification Tool: Complies with the DNV ClassA simulation standard (DNV, 2011) and can provide high-fidelity simulations in multiple scenarios.

[0054] 3. Ocean Equipment R & D:

[0055] Floating Installation Verification: Used for the preview of installation projects such as jacket platforms and floating wind power bases to reduce operation risks.

[0056] Multi-Ship Cooperative Operation: Supports the combined DP control of tugboats and engineering vessels, suitable for complex tasks such as oil tanker oil and gas transfer.

[0057] 4. Technology Transformation:

[0058] Cooperative Development: Jointly launch industry-customized solutions with simulation software companies.

[0059] Equipment Integration: Cooperate with shipbuilding enterprises to embed the system into the DP console.

[0060] The following will further illustrate the concept, specific structure, and technical effects of the present invention in conjunction with the attached drawings to fully understand the purpose, features, and effects of the present invention. Description of the Drawings

[0061] Figure 1It is the block diagram of the traditional data - flow - based SRDP - ESim system;

[0062] Figure 2 It is the block diagram of the modular DRDP - CSim system of the present invention;

[0063] Figure 3 It is the floating installation simulation diagram of the operator's control of the ship position and thrust in the X - axis direction with the assistance of the DP automatic control system;

[0064] Figure 4 They are four stages of the ship position change when the GPS signal is lost;

[0065] Figure 5 It represents the accuracy of dynamic positioning in the case of variable thrust loss;

[0066] Figure 6 It represents the VR guidance system for floating installation operation;

[0067] Figure 7 It is the high - fidelity dynamic positioning co - simulation system of the present invention based on distributed modules and real - time target machines. Detailed implementation manners

[0068] The following introduces multiple preferred embodiments of the present invention with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0069] In the accompanying drawings, components with the same structure are denoted by the same numeral labels, and components with similar structures or functions are denoted by similar numeral labels. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. To make the illustration clearer, the thickness of some components in the drawings is appropriately exaggerated.

[0070] As Figure 7 shown, it is the high - fidelity dynamic positioning co - simulation system of the present invention based on distributed modules and real - time target machines.

[0071] Embodiment 1: Multi - scenario simulation verification under a distributed architecture

[0072] System configuration:

[0073] Hydrodynamic module: Simulate the single - ship floating installation scenario through Orcaflex, simulate the scenarios of turbulent wind, double - peak wave spectrum, and steady flow, and calculate the 6 - degree - of - freedom coupling matrix of multiple structures.

[0074]

[0075]

[0076] Sensor module: Dynamic injection of GPS signal loss (500-700s) and wind sensor noise (σ = 0.1m / s), and Kalman filtering for data fusion.

[0077] Propulsion system module: Set the value of the thrust loss coefficient ρ to switch indefinitely in the interval [0.8,1]. Simulate the thrust attenuation caused by generator power limitation.

[0078] Testing process:

[0079] The real-time target machine synchronizes the time step of each module (Δt = 0.1s), and the data warehouse records and distributes the input and output.

[0080] The operator switches between automatic and manual modes and responds to collision warnings through the VR interface.

[0081] Example 2: Human-machine collaborative floating docking test

[0082] Scenario parameters: Ship mass 80300t, moment of inertia 2.3×10 9 t·m 2 , target position (0m, 0m, 0°). The controller uses the K-Pos system (extended Kalman filter + model predictive control method), and the thrust distribution is optimized by QP (Johansen et al., 2004).

[0083] Key stages, such as Figure 3 As shown:

[0084] Stage 1 (0-1000s): Fully automatic control, verifying DP steady-state error (X-direction deviation <0.5m).

[0085] Phase 2 (1000-1600s): Manually control the thrusters to simulate the initial floating docking operation, and the ship speed is controlled at 0.1m / s.

[0086] Phase 3 (1600-3500s): Switch to automatic control and adjust the target point to verify the controller dynamic response (thrust overshoot <5%).

[0087] Result analysis:

[0088] Sensor failure: During the period of GPS loss (500-700s), the controller estimates the position through wind and bias models, and the low-frequency drift of the ship is <2m. Figure 4 shown.

[0089] Propulsion uncertainty: When the thrust loss reaches 80%, the DP positioning error increases by 1.2m, and the controller restores the accuracy after redistributing the thrust through QP. Figure 5 shown.

[0090] VR Guidance: The collision warning system gives a 10-second advance warning of the risk of LMU contact, and the operator manually intervenes to avoid accidents. As Figure 6 shown.

[0091] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A high-fidelity dynamic positioning co-simulation system, characterized in that Adopt a distributed module architecture, where the modules operate independently through the TCP / IP protocol and the data warehouse conducts real-time interaction.

2. The high-fidelity dynamic positioning co-simulation system according to claim 1, wherein It includes a hydrodynamic module, a sensor module, and a propulsion system module.

3. The high-fidelity dynamic positioning co-simulation system according to claim 2, wherein The hydrodynamic module realizes 6-degree-of-freedom multi-body coupling based on Orcaflex, and dynamically calculates the combined load of wind, wave and current as well as elastic collision.

4. The high-fidelity dynamic positioning co-simulation system according to claim 2, wherein The sensor module simulates GPS signal loss and gyroscope slow drift in the Simulink toolbox of Matlab software, and supports random noise injection.

5. The high-fidelity dynamic positioning co-simulation system according to claim 2, wherein The propulsion system module simulates the thrust attenuation and uncertainty of the propeller.

6. The high-fidelity dynamic positioning co-simulation system according to claim 5, characterized in that The propulsion system module simulates the efficiency loss of the rudder in generating thrust and the correction of the rudder efficiency angle.

7. The high-fidelity dynamic positioning co-simulation system according to claim 1, characterized in that It also includes a real-time target machine, which is equipped with a real-time operating system and synchronizes physical time through hardware triggering.

8. The high-fidelity dynamic positioning co-simulation system according to claim 7, wherein It also includes a synchronization mechanism, which uses a data warehouse, and the modules call data according to time steps.

9. The high-fidelity dynamic positioning co-simulation system according to claim 1, wherein It also includes a VR virtual guidance module, which generates a three-dimensional model of the ship's 6-degree-of-freedom motion and environment through the Unity engine.

10. The high-fidelity dynamic positioning co-simulation system according to claim 9, wherein The VR virtual guidance module calculates the collision risk in real time and gives a prompt.

Images