Dragging buffer control system and method under high sea condition

Abstract

The invention provides a dragging buffer control system and method under a high sea condition. The system comprises a winch controller, a winch driver, a tension sensor, a heading attitude measuring instrument and a power supply module, the winch controller is a control core of the system and is used for realizing a control algorithm of the whole system, acquiring data of a peripheral sensor, performing instruction control on a winch driver and performing instruction data communication between display and control consoles; the winch driver is a driving device of a winch motor and controls the winch to take up and pay off cables. The tension sensor is a towing cable tension measuring device and is used for measuring the real-time tension of a towing cable on the winch; the course attitude measuring instrument is used for measuring attitude information of the towed platform and providing amplitude and acceleration information of the towed platform changing up and down along with sea waves for the system; the power supply module supplies power to control equipment of the whole system. The purpose of reducing towing cable fatigue and drastic change of the towing body depth caused by frequent change of towing cable tension is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of winch control, and particularly relates to a towing buffer control system and method under high sea conditions, which is applicable to solving the problem of the control strategy of a stable towing winch under high sea conditions. Background Art

[0002] During the towing process of a small platform in shallow water under high sea conditions, the towing system is affected by environmental factors such as waves and currents, resulting in more intense movement amplitude and frequency of the entire system. In addition, the towing depth is relatively shallow, and the change of the underwater cable type cannot fully balance the influence of the platform movement on the towed body, further exacerbating the instability of the depth and attitude of the underwater towed body. The depth of the underwater towed body is easily affected by the vertical movement of the towing mother ship caused by wave currents. If the towing winch is towed at zero speed under high sea conditions, the sudden change of the vertical movement state of the towing mother ship will cause a sudden change in the towing cable tension, resulting in a drastic change in the vertical movement speed and depth of the towed body, thus exacerbating the instability of the depth and attitude of the towed body. Summary of the Invention

[0003] In view of this, the present invention provides a towing buffer control system under high sea conditions, which includes a winch controller, a winch driver, a tension sensor, a heading and attitude measuring instrument, and a power supply module;

[0004] The winch controller is used for conducting command data communication with the display console. By collecting the feedback data of the tension sensor and the heading and attitude measuring instrument in real time, and after calculating through the PID control algorithm, the winch driver is controlled according to the calculation result to achieve the control of the winch speed;

[0005] The winch driver is a driving device for the winch motor, and is respectively connected to the winch controller and the motor;

[0006] The winch driver drives the motor to rotate according to the cable winding and unwinding control instruction sent by the winch controller to complete the function of cable winding and unwinding of the winch;

[0007] The tension sensor is a towing cable tension measuring device, which is installed on the winch and is used for measuring the real-time tension of the towing cable on the winch and feeding it back to the winch controller;

[0008] The heading and attitude measuring instrument is installed on the towing platform and is used for measuring the attitude information of the towing platform, and feeding back the amplitude and acceleration information of the towing platform changing up and down with the waves to the winch controller;

[0009] The power supply module is connected to the winch controller, the winch driver, the tension sensor and the heading and attitude measuring instrument to supply power to the control devices of the entire system.

[0010] In particular, the instruction data communication between the winch controller and the display console includes: the winch controller receives start and stop instructions from the display console to start or stop the PID control algorithm, and can receive the reconfiguration settings of the PID parameters from the display console.

[0011] In particular, based on the detected towing cable tension and the data of the heading and attitude measuring instrument, after calculation according to the self-optimized PID control algorithm, the winch cable-reeling speed and frequency can be dynamically adjusted in real time to actively control the vertical movement of the towed body, thereby reducing the violent up-and-down movement of the towed body caused by the influence of sea waves on the towing platform.

[0012] In particular, the specific control formula of the PID control algorithm can be expressed as:

[0013] u(t) = P + I + D;

[0014] where P is the proportional term, I is the integral term, D is the derivative term; u(t) is the output term of the PID control algorithm;

[0015] P = Kp * e(t); e(t) is the speed error, V2 = e(t) = V0 - V1; V2 is the difference between V0 and V1, which is the expected winch speed value; V0 is the vertical speed of the towing platform, and V1 is the actual cable-reeling speed of the towing winch; the integral term I = Ki * ∫e(t)dt; the derivative term D = Kd * de(t) / dt;

[0016] where Kp, Ki, and Kd are self-optimizable PID control parameters; the derivative term D represents the derivative control action of the PID control algorithm, where Kd is the derivative coefficient, which determines the intensity of the derivative control.

[0017] In particular, the PID control algorithm further includes: the control system combines the current acceleration a1 of the towing platform, the acceleration a2 of the winch, the towing cable tension F, and the expected winch speed value V2, calculates the winch output speed value V3, calculates the winch speed error factor g according to the winch motion characteristics, and finally obtains the cable-reeling speed output to the winch driver as V3 + g.

[0018] In particular, the winch controller is connected through a serial port cable, and the motor is connected through a data cable.

[0019] In particular, according to the change of the sea conditions in the operation area, the adjustment frequency and amplitude of the buffer control system are automatically set to meet the control requirements under different sea conditions.

[0020] The present invention also provides a control method for the above-mentioned towing buffer control system in high sea conditions, including:

[0021] Step 1, the system performs a power-on self-check and uploads the status information to the display console;

[0022] Step 2: After the self-check is normal, the system receives the current attitude information of the towing platform, the movement information of the winch, and the towing cable tension information in real time;

[0023] Step 3: Receive the start command sent by the display and control console. The system starts the PID control algorithm and calculates the current desired winch cable retraction and pay-out speed in real time according to the movement information of the towing platform, the towing cable tension information, and the winch status information;

[0024] Step 4: Receive the stop command sent by the display and control console. The system stops the PID control strategy algorithm and the system is in the monitoring state;

[0025] Step 5: Receive the exit command sent by the display and control console. The system exits the current operation process and the task execution is completed.

[0026] Beneficial effects:

[0027] Through the present invention, the functional requirements of stable depth setting of the towed body under different sea conditions and different waters can be achieved, and the requirements for the operation area of the platform are reduced.

[0028] Through the self-optimizing PID control algorithm in the present invention, it is easier to calculate the accurate winch movement speed, reduce the frequent adjustment of the winch cable retraction and pay-out speed, and extend the service life of the winch.

[0029] Through the present invention, the problem of drastic change in the towing cable tension caused by the drastic movement of the small platform under high sea conditions is solved, and the damage to the towing cable caused by the drastic change in tension is reduced.

[0030] Through the present invention, the problem of drastic change in the depth of the towed body caused by the drastic movement of the small platform under high sea conditions is solved, and the stable towing of the towed body platform is ensured. Description of the drawings

[0031] Figure 1 It is the block diagram of the control system proposed by the present invention;

[0032] Figure 2 It is the working flow chart of the control system proposed by the present invention;

[0033] Figure 3 It is the schematic diagram of the PID control algorithm of the control system proposed by the present invention. Detailed implementation manners

[0034] The following takes examples in combination with the drawings and describes the present invention in detail.

[0035] The present invention provides a towing buffer control system under high sea conditions. The system composition is as Figure 1As shown in the figure, the system includes a winch controller, a winch driver, a tension sensor, a heading and attitude measuring instrument, and a power supply module. The winch controller is the control core of the system, which is used to implement the control algorithm of the entire system, collect the data of peripheral sensors, control the commands of the winch driver, and communicate the command data with the display and control console. It can receive the start / stop towing buffer control command sent by the display and control console to complete the start / stop function of the system.

[0036] The winch controller is used to communicate command data with the display and control console. By collecting the feedback data of the tension sensor and the heading and attitude measuring instrument in real time, after calculating through the PID control algorithm, it controls the winch driver according to the calculation result to realize the control of the winch speed.

[0037] The winch driver is the driving device of the winch motor, which is respectively connected to the winch controller and the motor.

[0038] The winch driver drives the motor to rotate according to the cable winding and unwinding control command sent by the winch controller to complete the function of cable winding and unwinding of the winch.

[0039] The winch driver is the driving device of the winch motor. It is connected to the winch controller through a serial cable and to the motor through a data cable. The winch controller sends the cable winding and unwinding control command to the winch driver, and the winch driver drives the motor to rotate to complete the function of cable winding and unwinding of the winch. The tension sensor is a towing cable tension measuring device, which is installed on the winch and used to measure the real-time tension of the towing cable on the winch. The heading and attitude measuring instrument is installed on the towing platform and used to measure the attitude information of the towing platform, providing the amplitude and acceleration information of the towing platform changing up and down with the waves for the system. The power supply module is connected to the winch controller, the winch driver, the tension sensor, and the heading and attitude measuring instrument to supply power to the control equipment of the entire system. The command data communication between the winch controller and the display and control console includes: the winch controller receives the start and stop commands from the display and control console to start or stop the PID control algorithm, and can receive the reconfiguration setting of the PID parameters from the display and control console.

[0040] The core of the towing buffer control system is the design of an online self-optimizing PID controller. This controller includes the design of the PID controller and the design of online self-optimizing parameters. Among them, the online liberalization parameter design is the difficulty and key point of the controller design.

[0041] To reduce the fatigue of the towing cable caused by frequent changes in the towing cable tension and the change in the depth of the towed body, it is necessary to adjust the length and tension of the towing cable by controlling the cable retracting and paying-out speed of the towing winch, and actively control the vertical movement of the towed body. Due to the mechanical characteristics of the towing cable, the vertical movement response of the towed body lags behind the vertical movement change of the towing mother ship. At the same time, different towing depths will also affect the stiffness coefficient of the towing cable and the load weight of the towing winch. In view of the above motion characteristics of the towing system, online self-optimizing PID control is adopted, with the vertical speed of the towed body and the vertical speed of the towing mother ship as the control inputs to control the cable retracting and paying-out speed of the towing winch. The controller parameters are adaptively adjusted according to the motion state error of the towing system to reduce the influence of the towing depth of the towed body on the control of the towed body. That is to say, in this embodiment, a PID controller is designed in combination with the motion prediction of the high-sea towing system, and acceleration is introduced to participate in the control to reduce the control oscillation caused by motion lag. The cable retracting and paying-out speed and frequency of the winch can be dynamically adjusted in real time by detecting the towing cable tension and the data of the heading and attitude measuring instrument, and calculated according to the self-optimizing PID control algorithm, so as to actively control the vertical movement of the towed body, thereby reducing the violent up-and-down movement of the towed body caused by the influence of the waves on the towing platform.

[0042] Further, the specific control formula of the PID control algorithm can be expressed as:

[0043] u(t) = P + I + D;

[0044] Wherein, P is the proportional term, I is the integral term, D is the differential term; u(t) is the output term of the PID control algorithm;

[0045] P = Kp * e(t); e(t) is the speed error, V2 = e(t) = V0 - V1; V2 is the difference between V0 and V1, which is the expected speed value of the winch; V0 is the vertical speed of the towing platform, and V1 is the actual cable retracting and paying-out speed of the towing winch; the integral term I = Ki * ∫e(t)dt; the differential term D = Kd * de(t) / dt;

[0046] Wherein, Kp, Ki, and Kd are self-optimizing and adjustable PID control parameters; the differential term D represents the differential control action of the PID control algorithm. Among them, Kd is the differential coefficient, which determines the intensity of the differential control.

[0047] Further, the schematic diagram of the PID control algorithm is as Figure 3 shown. The PID control algorithm further includes: the control system combines the current acceleration a1 of the towing platform, the acceleration a2 of the winch, the towing cable tension F, and the expected speed value V2 of the winch, calculates the output speed value V3 of the winch, calculates the winch speed error factor g according to the motion characteristics of the winch, and finally obtains the cable retracting and paying-out speed output to the winch driver as V3 + g.

[0048] The present invention also discloses a control method for a towing buffer control system under high sea conditions. After the system starts working, it completes equipment self-check, uploads status information to the display and control console, and receives in real time the attitude information of the current towing platform, the tension information of the winch towing cable, the speed and acceleration information of the winch movement. When receiving the start instruction from the display and control console, the system starts the PID control algorithm, calculates the cable pay-in and pay-out speed and acceleration in real time and outputs them to the winch driver. At the same time, it monitors the attitude information of the platform and the winch movement information in real time, and dynamically adjusts the cable pay-in and pay-out speed of the winch so that the underwater vehicle can maintain a stable depth. When receiving the stop instruction from the display and control console, the system stops working. The specific work flow is as Figure 2 shown.

[0049] Step 1: The system powers on and performs self-check, and uploads status information to the display and control console.

[0050] Step 2: After the self-check is normal, the system receives in real time the attitude information of the current towing platform, the winch movement information, and the towing cable tension information.

[0051] Step 3: Receive the start instruction sent by the display and control console. The system starts the PID control strategy algorithm, and calculates the current expected cable pay-in and pay-out speed of the winch in real time according to the movement information of the towing platform, the towing cable tension information, and the winch status information.

[0052] Step 4: Receive the stop instruction sent by the display and control console. The system stops the PID control strategy algorithm, and the system is in the monitoring state.

[0053] Step 5: Receive the exit instruction sent by the display and control console. The system exits the current operation process. The task execution is completed.

[0054] In summary, the above is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0055] For those skilled in the art, it is obvious that the embodiments of the present invention are not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the embodiments of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the embodiments of the present invention. Any reference signs in the claims should not be construed as limiting the claims concerned. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units, modules or devices described in the system, apparatus or terminal claims can also be implemented by the same unit, module or device through software or hardware. The terms such as first, second, etc. are used to denote names and do not represent any particular order.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and not to limit them. Although the technical solutions of the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the embodiments of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A towing buffer control system under high sea conditions, characterized in that: The system includes a winch controller, a winch driver, a tension sensor, a heading and attitude measuring instrument, and a power supply module; The winch controller is used for command data communication with the display console. By collecting the feedback data of the tension sensor and the heading and attitude measuring instrument in real time, after calculating through the PID control algorithm, according to the calculation result, it controls the winch driver to realize the control of the winch speed; The winch driver is a driving device for the winch motor, and is respectively connected to the winch controller and the motor; The winch driver drives the motor to rotate according to the cable winding and unwinding control command sent by the winch controller to complete the function of winch cable winding and unwinding; The tension sensor is a towing cable tension measuring device, installed on the winch, used to measure the real-time tension of the towing cable on the winch and feedback it to the winch controller; The heading and attitude measuring instrument is installed on the towing platform, used to measure the attitude information of the towing platform, and feedback the amplitude and acceleration information of the towing platform changing up and down with the waves to the winch controller; The power supply module is connected to the winch controller, the winch driver, the tension sensor and the heading and attitude measuring instrument to supply power to the control devices of the whole system.

2. The towing buffer control system under high sea conditions according to claim 1, characterized in that The command data communication between the winch controller and the display console includes: the winch controller receives the start and stop commands from the display console to start or stop the PID control algorithm, and can receive the reconfiguration setting of the PID parameters by the display console.

3. The towing buffer control system under high sea conditions according to claim 1, characterized in that Through the detected towing cable tension and the data of the heading and attitude measuring instrument, after calculating according to the self-optimized PID control algorithm, the speed and frequency of the winch cable winding and unwinding can be dynamically adjusted in real time, so as to actively control the vertical movement of the towed body, thereby reducing the violent up and down movement of the towed body caused by the influence of the waves on the towing platform.

4. The towing buffer control system in high sea conditions according to claim 3, characterized in that The specific control formula of the PID control algorithm can be expressed as: u(t) = P + I + D; Wherein, P is the proportional term, I is the integral term, D is the differential term; u(t) is the output term of the PID control algorithm; P = Kp * e(t); e(t) is the speed error, V2 = e(t) = V0 - V1; V2 is the difference between V0 and V1, which is the expected speed value of the winch; V0 is the vertical speed of the towing platform, and V1 is the actual cable winding and unwinding speed of the towing winch; the integral term I = Ki * ∫e(t)dt; the differential term D = Kd * de(t) / dt; Wherein, Kp, Ki, and Kd are PID control parameters that can be self-optimized and adjusted; the differential term D represents the differential control action of the PID control algorithm. Among them, Kd is the differential coefficient, which determines the intensity of the differential control.

5. The towing buffer control system under high sea conditions according to claim 4, characterized in that The PID control algorithm further includes: the control system combines the current acceleration a1 of the towing platform movement, the acceleration a2 of the winch movement, the towing cable tension F, and the expected speed value V2 of the winch, calculates the output speed value V3 of the winch, calculates the winch speed error factor g according to the winch movement characteristics, and finally obtains the cable winding and unwinding speed output to the winch driver as V3 + g.

6. The towing buffer control system under high sea conditions according to claim 1, characterized in that Connect the winch controller through a serial cable and connect the motor through a data cable.

7. The towing buffer control system under high sea conditions according to claim 1, characterized in that, Automatically set the adjustment frequency and amplitude of the buffer control system according to the changes in the sea conditions of the operation area to meet the control requirements under different sea conditions.

8. A control method for a towing buffer control system under high sea conditions as described in any one of claims 1-7, characterized in that, Including: Step 1, the system conducts a power-on self-check and uploads the status information to the display and control console; Step 2, after the self-check is normal, the system receives the current attitude information of the towing platform, the motion information of the winch, and the towing cable tension information in real time; Step 3, upon receiving the start instruction sent by the display and control console, the system starts the PID control algorithm and calculates the current desired winch cable retraction and pay-out speed in real time based on the motion information of the towing platform, the towing cable tension information, and the winch status information; Step 4, upon receiving the stop instruction sent by the display and control console, the system stops the PID control strategy algorithm and the system is in the monitoring state; Step 5, upon receiving the exit instruction sent by the display and control console, the system exits the current operation process and the task execution is completed.

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