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1.
Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels. 相似文献
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An offshore vessel with a dynamic positioning system (DP system) needs fast response to produce thrust to counteract the environmental forces acting on it for the purpose of maintaining its position and heading as close as possible to the working position. Therefore, quick and effective modulation of the thrust is the problem to determine the thrust and the rotation angle of the thruster devices of the ship. This paper presents an effective optimum control for a thruster system, using the sequential quadratic method to achieve economical and effective modulation of the thrust and the direction of the thruster. An optimum control study of a 2280 tons DP coring vessel with five rotary azimuth thruster marine positioning is studied in detail, which can quickly and exactly estimate the thrusts and angles of direction of all the thrusters. The results can provide a valuable thruster system for a dynamically positioned vessel. 相似文献
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本文对具有动力定位深海采矿船高海情下的运动响应及运动特性开展研究。针对具有6个推进器构成的动力定位系统,考虑高海情及空载和满载两种典型工况,基于推力最小和运动最小条件,应用卡尔曼滤波器结合线性二次型最优控制理论的控制算法优化推力,进行动力定位系统的参数整定,实时优化调整推力的方向和大小,计算采矿船高海情下的运动和推力的时间历程响应和分析运动特性。经计算,得到了深海采矿船空载和满载工况在高海情下实施海上定位的浪向及需要的推力大小,确定了采矿船动力定位系统在高海情下的适应性,评估了高海情下深海采矿船的定位能力。 相似文献
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船舶机动定位技术及其实现方法 总被引：1，自引：0，他引：1
为改善动力定位船舶在高海情下的定位能力,研究了机动定位的控制方式,并设计了一种机动定位模糊控制系统。其特点是模仿人类的航海技巧,通过充分利用环境力,实现船舶的定位与机动。仿真结果表明,在高海情下,机动定位方式可以实现较高精度的定位控制,并且其辅推功率消耗较小。 相似文献
6.
为研究系泊状态下动力定位船舶与码头及缆绳间的耦合作用,采取凝集质量法计算系泊缆索有效张力,设置弹簧阻尼单元用以计算码头碰垫间的非线性反力,应用比例-积分-微分控制系统(PID)进行推力控制。在系泊状态下,以动力定位船舶和无动力定位船舶为研究对象,分析了耦合系统中侧推器对消除因一阶波浪载荷而引起的船舶运动影响的作用;针对动力定位船舶,讨论了码头-缆绳及目标位置两个因素对动力定位船舶的定位能力及侧推器性能的影响。结果表明,在选取合理目标位置的情况下,耦合系统中的侧推器性能及动力定位船舶的定位能力均得到了有效提高。 相似文献
7.
Hsin-Hung Chen 《Ocean Engineering》2008,35(14-15):1448-1462
Positioning accuracy of an ultra short baseline (USBL) tracking system is significantly reduced with the increase of alignment errors in the installation of sensors. Although techniques for sensor alignment calibration have been developed, they are either complex or lacking in rigor. This study proposes an algorithm to estimate the angular misalignments of a USBL transceiver relative to attitude sensors. The numerical algorithm is based on the positioning errors caused by heading, pitch, and roll misalignments, respectively, when running a circular survey around a seabed transponder. The positioning errors introduced by the angular misalignments outline an iterative scheme of estimating the roll alignment error first, next the heading alignment error, and then finally the pitch alignment error. This makes possible the efficient estimation of all angular misalignments with a high degree of accuracy. With the consideration of measurement error and executing a non-centered and non-perfect circle around the true transponder position, numerical simulations are performed to validate the effectiveness of the proposed algorithm. The simulation results show that the proposed algorithm is robust to the effects of measurement error, non-centered circles, and non-perfect circles. Moreover, the estimates converge fairly quickly, and can be achieved with good accuracy in only a few iterations. 相似文献
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Deep-sea mining (DSM) is an advanced concept. A simulation method of coupled vessel/riser/body system in DSM combined with dynamic positioning (DP) is proposed. Based on the three-dimensional potential flow theory, lumped mass method, and Morison’s equations the dynamic models of the production support vessel, riser and slurry pump are established. A proportion integration differentiation (PID) controller with a nonlinear observer and a thrust allocation unit are used to simulate the DP system. Coupled time domain simulation is implemented with the vessel operated in two DP modes. Results of the vessel and pump motions, riser tension, and thruster forces are obtained. It shows that the pump will be lifted by the riser when the vessel is chasing the next set point. Riser tension is influenced by the wave frequency motions of the vessel in positioning mode and low-frequency motions in tracking mode. The proposed simulation scheme is practical to study the DSM operation. 相似文献
10.
海上浮体动力定位外力计算 总被引：5，自引：1，他引：4
动力定位系统（dynamic positioning system）是一种闭环自动控制系统,采用推力器来抵抗风、浪、流等作用在浮体上的境力,使其保持在所要求的位置上。船舶的风和流作用力由经验公式求得,波浪力主要考虑二阶漂移力,由三维势流理论的直接积分法求得。通过模拟仿真,表明其结果能够用于船舶动力定位系统研究。 相似文献
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针对海洋测量水下拖曳设备位置确定问题,综合考虑拖缆受力、海流影响以及水下拖体的运动性质,建立了水下拖曳设备的位置计算模型,并仿真计算分析了测量船在不同航行状态下拖曳设备位置确定的规律,探讨了不同海流效应对拖曳设备位置确定的影响。仿真计算结果表明,在海洋动态环境作用下,拖缆各方向的偏移明显呈曲线形状,非简单几何运算所确定。测船各方向的运动均可对水下拖体的位置在相应方向产生一定影响,而水下拖体位置的变化量小于测船拖点位置的变化量。海流对水下拖曳设备定位可造成数米的偏差,需进行相应改正。建议可考虑采取船载式ADCP实时测流辅助水下拖曳设备定位的工作模式。 相似文献
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Unsteady forces, torques and bending moments were predicted for a model podded propulsor unit at various azimuth angles. Predictions in time history include propeller shaft thrust, propulsor unit thrust, normal forces to the propeller shaft bearing, total forces acting on the propulsor unit, propeller shaft torque, blade spindle torque, in-plane and out-of-plane bending moments, and propulsor unit stock shaft torque and bending moments. Analysis was performed for averaged forces and their fluctuations as well. A time-domain unsteady multi-body panel method code, PROPELLA, was further developed for this prediction work. Predictions were compared with a set of time averaged in-house experimental data for a puller-type podded propulsor configuration in the first quadrant operation. Unsteady fluctuations of forces were predicted numerically. Analysis was made for the bending moment on propeller blades, shaft and the propulsor unit stock shaft for azimuth angles from 0° to 45°. It indicates that the magnitude and fluctuation of the forces are significant and they are essential for structural strength and design optimization. The predicted bending moment and global forces on the propulsor unit provide some useful data for ship maneuvering motion and simulation in off-design conditions. 相似文献
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On the use of the capability polar plots program for dynamic positioning systems for marine vessels 总被引：2，自引：0，他引：2
As the capability of polar plots becomes better understood, improved dynamic positioning (DP) systems are possible since the control algorithms greatly depend on the accuracy of the aerodynamic and hydrodynamic models. The measurements and estimation of the environmental disturbances have an important role in the optimal design and selection of a DP system for a marine vessel. The main objective of this work is to present a new software program capable of estimating the environmental forces, thrusters capability calculations, and capability polar plots for marine vessels. A flowchart illustrating the logic and data flow of a developed software program, the Capability Polar Plot Program (CPPP), and the estimated results for two case studies for a scientific drilling vessel and a survey vessel are presented. It is obvious from the obtained results that the developed program has a future potential for the estimation of the Capability Polar Plots for marine vessels. Moreover, the developed software program would be considered as a marine tool for the thrusters' selection and their configuration for marine vessels and floating production units for the Oil and Gas industries. 相似文献
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动力定位系统发展状况及研究方法 总被引：21，自引：2，他引：21
动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。 相似文献
15.
The purpose of the current study is to introduce a set of mobile underwater positioning systems (MUPS) that will enable non-offshore vessels to execute underwater missions. Besides mobility, the system would also possess the advantage of having to use fewer acoustic instruments than conventional acoustic positioning systems. The method adopted by the system will involve the use of expendable and multi-functional bathythermographs (XBT) to measure the underwater acoustic speed and the depth of water at the same time. Then it must utilize the geometric relations formed by measuring the position of underwater targets at set intervals during navigation. In addition, since sound does not travel in a straight line when underwater, the iteration and convergence method must be used to perform corrections on the transmission speed and positional errors to obtain an accurate coordinate of the underwater target. After simulation testing, the positioning system established by the current study has proven to be fast in converging the error values along with high positioning accuracy of the system. The results of the study indicate that the MUPS built by the research institute can be utilized on a vessel, and will be very helpful in assisting the management of urgent underwater positioning missions. 相似文献
16.
This paper develops an adaptive fuzzy controller for the dynamic positioning (DP) system of vessels with unknown dynamic model parameters and unknown time-varying environmental disturbances. The controller is designed by combining the adaptive fuzzy system with the vectorial backstepping method. An adaptive fuzzy system is employed to approximate the uncertain term induced by unknown dynamic model parameters and unknown time-varying environmental disturbances. It is theoretically proved that the proposed adaptive fuzzy DP controller can make the vessel be maintained at the desired values of its position and heading with arbitrary accuracy, while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop DP control system of vessels. Simulation studies with comparisons on a supply vessel are carried out, and the results illustrate the effectiveness of the proposed control scheme. 相似文献
17.
Currently, most submerged bodies use the long-baseline acoustic position system (LBL) to identify the navigation position for submerging. A precise navigation position is always the target pursued by underwater technology. The conventional long-baseline acoustic position systems normally use Kalman filter correction to handle the problem of positional errors. This article proposes a new modification, which is based on the periodically measured actual navigation distance, and associated with the three-dimensional geometrical relations between the transponder on the seabed and the navigation distance. This new modification employs the iterative approximation to modify the errors of the measured navigation position from the conventional long-baseline acoustic position system. In order to verify the availability of the modified model by the essay, the study uses the navigation position for an underwater surveying submerged body as the study object. After the numerical simulation analysis, the result shows that the modification was presented by the article can only use very few iterations to precisely modify the errors of the measured navigation position from the conventional long-baseline acoustic position system, which is highly applicable for positioning in long-term and long-distance submersion. Moreover, the modification method proposed by the paper can also help submersion positioning for the underwater vehicle, as well as the military submerged body. 相似文献
18.
Chungsik Yoo 《Marine Georesources & Geotechnology》2017,35(3):305-317
This paper presents the results of an investigation into the effect of lining leakage on the structural performance of lining in subsea tunnels. A parametric study on a number of hypothetical subsea tunnels was conducted within the framework of two-dimensional stress–pore pressure coupled finite element analysis with due consideration of tunnel cover depth, depth of water to seabed, and ground type. The results indicate that the lining leakage increases axial thrust as well as bending moment, with more pronounced increases in bending moment. Also shown is that there exists an increasing trend of leakage induced lining forces with an increase in the water depth above the seabed but with no significant influence from the cover depth. It is also shown that the progressive development of leakage induced lining forces can be best fitted with an exponential function which can be used to predict the lining force increase for a given tunnel condition. Practical implications of the findings are discussed. 相似文献
19.
船舶动力定位系统的预测模糊控制 总被引：1，自引：0，他引：1
在船舶动力定位中采用预测模糊控制策略,即通过自校正滤波与Ｋａｌｍ ａｎ 滤波得到系统低频运动位置偏差与相应速度的预测值作为模糊控制器的输入,以实现对其在水平面内的运动控制。因为基于系统模型的滤波器输出最终是经模糊化后输入至模糊控制器的,于是可大大降低对系统建模的精度要求,控制器本身具有强的鲁棒性。仿真结果说明了该策略的可行性及良好的控制性能。 相似文献
20.
Healey A.J. Rock S.M. Cody S. Miles D. Brown J.P. 《Oceanic Engineering, IEEE Journal of》1995,20(4):354-361
This paper proposes a novel approach to modeling the four quadrant dynamic response of thrusters as used for the motion control of ROV and AUV underwater vehicles. The significance is that these vehicles are small in size and respond quickly to commands. Precision in motion control will require further understanding of thruster performance than is currently available. The model includes a four quadrant mapping of the propeller blades lift and drag forces and is coupled with motor and fluid system dynamics. A series of experiments is described for both long and short period triangular, as well as square wave inputs. The model is compared favorably with experimental data for a variety of differing conditions and predicts that force overshoots are observed under conditions of rapid command changes. Use of the model will improve the control of dynamic thrust on these vehicles 相似文献