挖泥船動(dòng)力定位系統(tǒng)控制.doc
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挖泥船動(dòng)力定位系統(tǒng)控制,摘 要隨著我國(guó)疏浚量的日益增大，對(duì)挖泥船的疏浚效率的要求也日益提高，越來(lái)越多的挖泥船開(kāi)始采用動(dòng)力定位系統(tǒng)，它是一種閉環(huán)的反饋控制系統(tǒng)，與傳統(tǒng)的定位方式相比，動(dòng)力定位系統(tǒng)完全靠自身產(chǎn)生的推力定位，不需要依靠外部設(shè)備，而且能夠在任何水深條件下工作，對(duì)外部環(huán)境改變能做出快速響應(yīng)，能實(shí)現(xiàn)如固定軌跡移動(dòng)等特殊功能。本文在江蘇省高...
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摘 要
隨著我國(guó)疏浚量的日益增大，對(duì)挖泥船的疏浚效率的要求也日益提高，越來(lái)越多的挖泥船開(kāi)始采用動(dòng)力定位系統(tǒng)，它是一種閉環(huán)的反饋控制系統(tǒng)，與傳統(tǒng)的定位方式相比，動(dòng)力定位系統(tǒng)完全靠自身產(chǎn)生的推力定位，不需要依靠外部設(shè)備，而且能夠在任何水深條件下工作，對(duì)外部環(huán)境改變能做出快速響應(yīng)，能實(shí)現(xiàn)如固定軌跡移動(dòng)等特殊功能。本文在江蘇省高技術(shù)研究項(xiàng)目的支持下，將“挖泥船動(dòng)力定位系統(tǒng)控制策略研究”作為碩士論文研究課題。根據(jù)挖泥船動(dòng)力定位系統(tǒng)的特殊性，針對(duì)推力分配問(wèn)題進(jìn)行了系統(tǒng)的探討與研究，論文具有明確的工程應(yīng)用背景和實(shí)用價(jià)值，主要貢獻(xiàn)如下：
根據(jù)耙吸挖泥船的動(dòng)力定位系統(tǒng)的特殊性，闡述了耙吸挖泥船的螺旋槳選型，并分析了原因。針對(duì)18000 耙吸挖泥船的兩種不同的推進(jìn)器配置方案，重點(diǎn)分析了在這兩種推進(jìn)器配置方案下的推力分配問(wèn)題。在第一種配置方案中，挖泥船配備一個(gè)艏側(cè)推、兩個(gè)主推和兩個(gè)舵，推力分配策略為針對(duì)耙吸挖泥船的八種工作模式，根據(jù)控制系統(tǒng)給出的推力指令，對(duì)艏側(cè)推、主推和舵應(yīng)該產(chǎn)生的推力大小分別進(jìn)行計(jì)算。在第二種配置方案中，挖泥船配備四個(gè)全回轉(zhuǎn)推進(jìn)器，推力分配的目標(biāo)是最小化系統(tǒng)能耗，同時(shí)還要考慮推進(jìn)器的推力極限、奇異結(jié)構(gòu)等因素，利用序列二次規(guī)劃法進(jìn)行推力的最優(yōu)分配。
在此基礎(chǔ)上，引入了評(píng)估耙吸挖泥船動(dòng)力定位系統(tǒng)控位能力的方法，即動(dòng)力定位控位能力圖。利用DPCAP軟件，建立了耙吸挖泥船動(dòng)力定位系統(tǒng)的計(jì)算模型，并對(duì)兩種推進(jìn)器配置情況下的控位能力圖進(jìn)行了分析。利用MATLAB軟件，對(duì)兩種不同的配置方案下的推力分配進(jìn)行了仿真，得出分配給各個(gè)推進(jìn)器的控制信號(hào)并進(jìn)行了分析。
針對(duì)耙吸挖泥船動(dòng)力定位八種模式，對(duì)其操作流程進(jìn)行了介紹，描述了八種模式下如何進(jìn)行操作，以及八種模式下如何查看船舶各種狀態(tài)。
論文研究的部分研究成果已在某耙吸挖泥船上得到應(yīng)用，獲得了用船單位有關(guān)領(lǐng)導(dǎo)的肯定與好評(píng)。
關(guān)鍵詞 動(dòng)力定位；推力分配；序列二次規(guī)劃法；控位能力圖
Abstract
With the increase of the dredging amount,the demand of the dredging efficiency is gradually improved,more and more dredgers begin to adapt DP(Dynamic Positioni-ng) system.It’s a closed-loop feedback control system,compared with the traditional positioning method,DP system can position by its own generated thrust without any external devices,it can work under sea in any depth,and it has a rapid response on t-he external environmental change so that it can finish special task such as moving in a fixed track. With the support of jiangsu province high technology research proje-ct,the paper take "Design of Dynamic Positioning System Control Strategy for Dred-ger" as a dissertation research subject.According to the particularity of DP system ofdredger,the paper analyze the thrusting force allocation problems systematically,it hasexplicit engineering application background and practical value, the main contribution is as follows:
According to the particularity of the DP system of trailing suction hopper dredg-er,a selection of propellers is proposed and the reasons are analyzed.Two different t-hruster configurations are provided for trailing suction hopper dredger,focusing on theanalysis of the problem of thrust allocation in the two configurations.In the first co-nfiguration,the dredger is equipped with one bow thruster,two main thrusters and tw-o rudders,the thrust allocation strategy is designed forthe eight modes of trailing suct-ion hopper dredger according to the thrust command given by the control system,an-d the thrust generated by the thrusters is calculated respectively.In the second config-uration,the dredger is equipped with four azimuthing thrusters,the thrust allocation ta-rget of the second propulsion configuration is to minimize energy consumption,also consider the limits of the propeller thrust,singular structure and other factors.The thru-st optimal allocation is based on the sequential quadratic programming method accor-ding to the thrust command generated by the control system.
On this basis,a eva luation method to analyze the capability of the DP system ofthe trailing suction hopper dredger is introduced,which is called dynamicpositioning c-apability plot.Using DPCAP software,the model of DP system of the trailing suctionhopper dredger is established and the dynamic positioning capability plots of the twodifferent propeller configurations are analyzed.The two different configuration of thrus-t allocation are simulated using MATLAB,the control signals are obtained and analy-zed.
In the paper,the operating process of eight modes of trailing suction hopper dre-dger DP system is introduced,including how to operate in the eight modesand how t-o examine all states of dredger.
Part of the research results of the paper has been applied in a trailing suction h-opper dredger,recognition and praise is obtained by the relevant leaders of shipyard.
Keyword dynamic positioning; thrust allocation; sequential quadratic programming
method; dynamic positioning capability plot
目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1 課題研究背景 1
1.2 耙吸挖泥船的發(fā)展現(xiàn)狀 1
1.2.1 耙吸挖泥船概述 1
1.2.2 耙吸挖泥船的國(guó)內(nèi)外發(fā)展現(xiàn)狀 2
1.3 本論文主要內(nèi)容 4
1.3.1 主要研究?jī)?nèi)容 4
第2章 耙吸挖泥船動(dòng)力定位系統(tǒng)工作模式 6
2.1 動(dòng)力定位系統(tǒng)..
隨著我國(guó)疏浚量的日益增大，對(duì)挖泥船的疏浚效率的要求也日益提高，越來(lái)越多的挖泥船開(kāi)始采用動(dòng)力定位系統(tǒng)，它是一種閉環(huán)的反饋控制系統(tǒng)，與傳統(tǒng)的定位方式相比，動(dòng)力定位系統(tǒng)完全靠自身產(chǎn)生的推力定位，不需要依靠外部設(shè)備，而且能夠在任何水深條件下工作，對(duì)外部環(huán)境改變能做出快速響應(yīng)，能實(shí)現(xiàn)如固定軌跡移動(dòng)等特殊功能。本文在江蘇省高技術(shù)研究項(xiàng)目的支持下，將“挖泥船動(dòng)力定位系統(tǒng)控制策略研究”作為碩士論文研究課題。根據(jù)挖泥船動(dòng)力定位系統(tǒng)的特殊性，針對(duì)推力分配問(wèn)題進(jìn)行了系統(tǒng)的探討與研究，論文具有明確的工程應(yīng)用背景和實(shí)用價(jià)值，主要貢獻(xiàn)如下：
根據(jù)耙吸挖泥船的動(dòng)力定位系統(tǒng)的特殊性，闡述了耙吸挖泥船的螺旋槳選型，并分析了原因。針對(duì)18000 耙吸挖泥船的兩種不同的推進(jìn)器配置方案，重點(diǎn)分析了在這兩種推進(jìn)器配置方案下的推力分配問(wèn)題。在第一種配置方案中，挖泥船配備一個(gè)艏側(cè)推、兩個(gè)主推和兩個(gè)舵，推力分配策略為針對(duì)耙吸挖泥船的八種工作模式，根據(jù)控制系統(tǒng)給出的推力指令，對(duì)艏側(cè)推、主推和舵應(yīng)該產(chǎn)生的推力大小分別進(jìn)行計(jì)算。在第二種配置方案中，挖泥船配備四個(gè)全回轉(zhuǎn)推進(jìn)器，推力分配的目標(biāo)是最小化系統(tǒng)能耗，同時(shí)還要考慮推進(jìn)器的推力極限、奇異結(jié)構(gòu)等因素，利用序列二次規(guī)劃法進(jìn)行推力的最優(yōu)分配。
在此基礎(chǔ)上，引入了評(píng)估耙吸挖泥船動(dòng)力定位系統(tǒng)控位能力的方法，即動(dòng)力定位控位能力圖。利用DPCAP軟件，建立了耙吸挖泥船動(dòng)力定位系統(tǒng)的計(jì)算模型，并對(duì)兩種推進(jìn)器配置情況下的控位能力圖進(jìn)行了分析。利用MATLAB軟件，對(duì)兩種不同的配置方案下的推力分配進(jìn)行了仿真，得出分配給各個(gè)推進(jìn)器的控制信號(hào)并進(jìn)行了分析。
針對(duì)耙吸挖泥船動(dòng)力定位八種模式，對(duì)其操作流程進(jìn)行了介紹，描述了八種模式下如何進(jìn)行操作，以及八種模式下如何查看船舶各種狀態(tài)。
論文研究的部分研究成果已在某耙吸挖泥船上得到應(yīng)用，獲得了用船單位有關(guān)領(lǐng)導(dǎo)的肯定與好評(píng)。
關(guān)鍵詞 動(dòng)力定位；推力分配；序列二次規(guī)劃法；控位能力圖
Abstract
With the increase of the dredging amount,the demand of the dredging efficiency is gradually improved,more and more dredgers begin to adapt DP(Dynamic Positioni-ng) system.It’s a closed-loop feedback control system,compared with the traditional positioning method,DP system can position by its own generated thrust without any external devices,it can work under sea in any depth,and it has a rapid response on t-he external environmental change so that it can finish special task such as moving in a fixed track. With the support of jiangsu province high technology research proje-ct,the paper take "Design of Dynamic Positioning System Control Strategy for Dred-ger" as a dissertation research subject.According to the particularity of DP system ofdredger,the paper analyze the thrusting force allocation problems systematically,it hasexplicit engineering application background and practical value, the main contribution is as follows:
According to the particularity of the DP system of trailing suction hopper dredg-er,a selection of propellers is proposed and the reasons are analyzed.Two different t-hruster configurations are provided for trailing suction hopper dredger,focusing on theanalysis of the problem of thrust allocation in the two configurations.In the first co-nfiguration,the dredger is equipped with one bow thruster,two main thrusters and tw-o rudders,the thrust allocation strategy is designed forthe eight modes of trailing suct-ion hopper dredger according to the thrust command given by the control system,an-d the thrust generated by the thrusters is calculated respectively.In the second config-uration,the dredger is equipped with four azimuthing thrusters,the thrust allocation ta-rget of the second propulsion configuration is to minimize energy consumption,also consider the limits of the propeller thrust,singular structure and other factors.The thru-st optimal allocation is based on the sequential quadratic programming method accor-ding to the thrust command generated by the control system.
On this basis,a eva luation method to analyze the capability of the DP system ofthe trailing suction hopper dredger is introduced,which is called dynamicpositioning c-apability plot.Using DPCAP software,the model of DP system of the trailing suctionhopper dredger is established and the dynamic positioning capability plots of the twodifferent propeller configurations are analyzed.The two different configuration of thrus-t allocation are simulated using MATLAB,the control signals are obtained and analy-zed.
In the paper,the operating process of eight modes of trailing suction hopper dre-dger DP system is introduced,including how to operate in the eight modesand how t-o examine all states of dredger.
Part of the research results of the paper has been applied in a trailing suction h-opper dredger,recognition and praise is obtained by the relevant leaders of shipyard.
Keyword dynamic positioning; thrust allocation; sequential quadratic programming
method; dynamic positioning capability plot
目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1 課題研究背景 1
1.2 耙吸挖泥船的發(fā)展現(xiàn)狀 1
1.2.1 耙吸挖泥船概述 1
1.2.2 耙吸挖泥船的國(guó)內(nèi)外發(fā)展現(xiàn)狀 2
1.3 本論文主要內(nèi)容 4
1.3.1 主要研究?jī)?nèi)容 4
第2章 耙吸挖泥船動(dòng)力定位系統(tǒng)工作模式 6
2.1 動(dòng)力定位系統(tǒng)..
