挖泥船動力定位系統(tǒng)控制.doc
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挖泥船動力定位系統(tǒng)控制,摘 要隨著我國疏浚量的日益增大，對挖泥船的疏浚效率的要求也日益提高，越來越多的挖泥船開始采用動力定位系統(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，對外部環(huán)境改變能做出快速響應(yīng)，能實現(xiàn)如固定軌跡移動等特殊功能。本文在江蘇省高...
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摘 要
隨著我國疏浚量的日益增大，對挖泥船的疏浚效率的要求也日益提高，越來越多的挖泥船開始采用動力定位系統(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，對外部環(huán)境改變能做出快速響應(yīng)，能實現(xiàn)如固定軌跡移動等特殊功能。本文在江蘇省高技術(shù)研究項目的支持下，將“挖泥船動力定位系統(tǒng)控制策略研究”作為碩士論文研究課題。根據(jù)挖泥船動力定位系統(tǒng)的特殊性，針對推力分配問題進行了系統(tǒng)的探討與研究，論文具有明確的工程應(yīng)用背景和實用價值，主要貢獻如下：
根據(jù)耙吸挖泥船的動力定位系統(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18000 耙吸挖泥船的兩種不同的推進器配置方案，重點分析了在這兩種推進器配置方案下的推力分配問題。在第一種配置方案中，挖泥船配備一個艏側(cè)推、兩個主推和兩個舵，推力分配策略為針對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，對艏側(cè)推、主推和舵應(yīng)該產(chǎn)生的推力大小分別進行計算。在第二種配置方案中，挖泥船配備四個全回轉(zhuǎn)推進器，推力分配的目標(biāo)是最小化系統(tǒng)能耗，同時還要考慮推進器的推力極限、奇異結(jié)構(gòu)等因素，利用序列二次規(guī)劃法進行推力的最優(yōu)分配。
在此基礎(chǔ)上，引入了評估耙吸挖泥船動力定位系統(tǒng)控位能力的方法，即動力定位控位能力圖。利用DPCAP軟件，建立了耙吸挖泥船動力定位系統(tǒng)的計算模型，并對兩種推進器配置情況下的控位能力圖進行了分析。利用MATLAB軟件，對兩種不同的配置方案下的推力分配進行了仿真，得出分配給各個推進器的控制信號并進行了分析。
針對耙吸挖泥船動力定位八種模式，對其操作流程進行了介紹，描述了八種模式下如何進行操作，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。
關(guān)鍵詞 動力定位；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 主要研究內(nèi)容 4
第2章 耙吸挖泥船動力定位系統(tǒng)工作模式 6
2.1 動力定位系統(tǒng)..
隨著我國疏浚量的日益增大，對挖泥船的疏浚效率的要求也日益提高，越來越多的挖泥船開始采用動力定位系統(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，對外部環(huán)境改變能做出快速響應(yīng)，能實現(xiàn)如固定軌跡移動等特殊功能。本文在江蘇省高技術(shù)研究項目的支持下，將“挖泥船動力定位系統(tǒng)控制策略研究”作為碩士論文研究課題。根據(jù)挖泥船動力定位系統(tǒng)的特殊性，針對推力分配問題進行了系統(tǒng)的探討與研究，論文具有明確的工程應(yīng)用背景和實用價值，主要貢獻如下：
根據(jù)耙吸挖泥船的動力定位系統(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18000 耙吸挖泥船的兩種不同的推進器配置方案，重點分析了在這兩種推進器配置方案下的推力分配問題。在第一種配置方案中，挖泥船配備一個艏側(cè)推、兩個主推和兩個舵，推力分配策略為針對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，對艏側(cè)推、主推和舵應(yīng)該產(chǎn)生的推力大小分別進行計算。在第二種配置方案中，挖泥船配備四個全回轉(zhuǎn)推進器，推力分配的目標(biāo)是最小化系統(tǒng)能耗，同時還要考慮推進器的推力極限、奇異結(jié)構(gòu)等因素，利用序列二次規(guī)劃法進行推力的最優(yōu)分配。
在此基礎(chǔ)上，引入了評估耙吸挖泥船動力定位系統(tǒng)控位能力的方法，即動力定位控位能力圖。利用DPCAP軟件，建立了耙吸挖泥船動力定位系統(tǒng)的計算模型，并對兩種推進器配置情況下的控位能力圖進行了分析。利用MATLAB軟件，對兩種不同的配置方案下的推力分配進行了仿真，得出分配給各個推進器的控制信號并進行了分析。
針對耙吸挖泥船動力定位八種模式，對其操作流程進行了介紹，描述了八種模式下如何進行操作，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。
關(guān)鍵詞 動力定位；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 主要研究內(nèi)容 4
第2章 耙吸挖泥船動力定位系統(tǒng)工作模式 6
2.1 動力定位系統(tǒng)..
