船舶动力定位仿真技术研究
|
摘要
随着人类对海洋资源开发和探索的范围、水深越来越大,人们对深海作业的浮式生产系统(包括船舶、半潜平台)的定位方式的研究日益重视。动力定位系统不同于传统的锚缆系泊,它是一个利用动力来定位的闭环的控制系统。由于有其独特的优势,越来越被广泛地应用于各种海洋平台及船舶。控制算法以及推力分配方法是动力定位控制系统的核心,本文旨在通过对控制系统及多推进器优化分配的研究,建立船舶动力定位数值仿真平台,为动力定位模型试验甚至动力定位样机打下基础。本文主要工作包括如下几个方面:
(1)首先建立两套数学模型,分别为控制模型和过程模型。控制模型是一种简化的船舶运动模型,只描述了环境干扰力和船舶运动的主要特征,主要用于控制器、滤波器的设计,及稳定性分析。过程模型描述了船舶受力和运动的真实过程,这种模型更为复杂、精细,主要用于仿真船舶的真实运动,对控制系统进行测试和鲁棒性分析。
(2)其次利用控制模型设计用于仿真计算和模型试验的卡尔曼滤波器和LQG控制器。
(3)提出一种新的多推进器推力分配算法,可以有效的将三个方向的推力指令优化分配到各个推进器上,并且考虑了对推进器最大推力的限制,推力最大变化速度的限制,方位角的范围,方位角变化的最大速度的限制,也避免了奇异结构的出现。
(4)将模型试验结果与数值计算结果进行对比,分析了二者在若干方面的异同,并解释了造成二者差异的原因。
本文在如下两方面取得了创新:
1)提出了一种新的多推进器推力优化分配算法,并将这种算法应用于7个全回转推进器的深水铺管船的动力定位仿真计算和模型试验中,取得了良好的结果。
2)建立了动力定位数值仿真平台,并将仿真计算结果和模型试验结果进行比较,使仿真计算能够为模型试验提供指导,同时对动力定位精度或能力进行评估。
The positioning of floating structures is a problem of great concern with the rapid development of exploitation and production in deep seas. Dynamic Positioning system is different to traditional anchor system. Dynamic positioning system is a closed-loop control system to let the marine vessel maintain a fixed position and heading in the horizontal plane, or to follow a predetermined track. Now the DP system is widely applied to floating offshore structures and ships. The objective of this thesis is to establish the simulation program for the DP system by studying on the control method and thrust allocation method. . The major work of the thesis includes:
(1) Firstly, two mathematical models were established, one is the control plant model and another is the progress plant model. The process plant model is a model describing the real world as accurate as possible. This model is most often used in numerical simulation as an imitation of the real world. Contrarily, the control plant model is a simplified ship model to be used in controller design. It is the basis when designing controllers and observers, or when doing stability analysis.
(2) Secondly, Kalman Filter and LQG controller is designed with the control plant model.
(3) The thesis proposed a new thrust allocation method. Thrust allocation problem is formulated as an optimization problem, which objective is to minimize the energy consumption, including fuel consumption, tear and wear of thrusters and thrust error. The boundary conditions include thrust limitation, maximum thrust change rate of thrust, maximum slew rate of thrusts, forbidden sector for the thrust direction angle.
(4) The numerical simulation results were compared with those form model test and the consistence was analyzed.
The following innovations were obtained:
1) A new thrust allocation method which was used in both numerical simulation and model test was established, and good results were obtained.
2) The simulation program of DP was developed and was applied to a deep water pipe-laying crane vessel with seven azimuthing Model test results were compared with numerical results and good agreement was obtained.
(1)首先建立两套数学模型,分别为控制模型和过程模型。控制模型是一种简化的船舶运动模型,只描述了环境干扰力和船舶运动的主要特征,主要用于控制器、滤波器的设计,及稳定性分析。过程模型描述了船舶受力和运动的真实过程,这种模型更为复杂、精细,主要用于仿真船舶的真实运动,对控制系统进行测试和鲁棒性分析。
(2)其次利用控制模型设计用于仿真计算和模型试验的卡尔曼滤波器和LQG控制器。
(3)提出一种新的多推进器推力分配算法,可以有效的将三个方向的推力指令优化分配到各个推进器上,并且考虑了对推进器最大推力的限制,推力最大变化速度的限制,方位角的范围,方位角变化的最大速度的限制,也避免了奇异结构的出现。
(4)将模型试验结果与数值计算结果进行对比,分析了二者在若干方面的异同,并解释了造成二者差异的原因。
本文在如下两方面取得了创新:
1)提出了一种新的多推进器推力优化分配算法,并将这种算法应用于7个全回转推进器的深水铺管船的动力定位仿真计算和模型试验中,取得了良好的结果。
2)建立了动力定位数值仿真平台,并将仿真计算结果和模型试验结果进行比较,使仿真计算能够为模型试验提供指导,同时对动力定位精度或能力进行评估。
The positioning of floating structures is a problem of great concern with the rapid development of exploitation and production in deep seas. Dynamic Positioning system is different to traditional anchor system. Dynamic positioning system is a closed-loop control system to let the marine vessel maintain a fixed position and heading in the horizontal plane, or to follow a predetermined track. Now the DP system is widely applied to floating offshore structures and ships. The objective of this thesis is to establish the simulation program for the DP system by studying on the control method and thrust allocation method. . The major work of the thesis includes:
(1) Firstly, two mathematical models were established, one is the control plant model and another is the progress plant model. The process plant model is a model describing the real world as accurate as possible. This model is most often used in numerical simulation as an imitation of the real world. Contrarily, the control plant model is a simplified ship model to be used in controller design. It is the basis when designing controllers and observers, or when doing stability analysis.
(2) Secondly, Kalman Filter and LQG controller is designed with the control plant model.
(3) The thesis proposed a new thrust allocation method. Thrust allocation problem is formulated as an optimization problem, which objective is to minimize the energy consumption, including fuel consumption, tear and wear of thrusters and thrust error. The boundary conditions include thrust limitation, maximum thrust change rate of thrust, maximum slew rate of thrusts, forbidden sector for the thrust direction angle.
(4) The numerical simulation results were compared with those form model test and the consistence was analyzed.
The following innovations were obtained:
1) A new thrust allocation method which was used in both numerical simulation and model test was established, and good results were obtained.
2) The simulation program of DP was developed and was applied to a deep water pipe-laying crane vessel with seven azimuthing Model test results were compared with numerical results and good agreement was obtained.
引文
[1]赵志高,杨建民,王磊,等.动力定位系统发展状况及研究方法[J].海洋工程,2002,20(1):91—97.
[2]摩根M.J.近海船舶的动力定位[M].耿惠彬,译.北京:国防工业出版社,1984.
[3]何崇德.船舶动力定位系统的应用与实践[J].中国造船,2004,45(Speci-al):279—299.
[4]王丽娟,李英辉,赵希人.模糊控制技术在船舶动力定位中的应用研究[J].船舶工程,1999,3:8—11.
[5]赵志高.动力定位控制系统的设计和研究[D].上海:上海交通大学,2002.
[6]程俊勇.模型动力定位系统的设计和分析[D].上海:上海交通大学,2002.
[7]张维竞.舰船动力装置系统仿真[M].上海:上海交通大学,2006.
[8]盛振邦,刘应中.船舶原理(下册)[M].上海:上海交通大学,2004.
[9]李殿璞.船舶运动与建模(第2版)[M].北京:国防工业出版社,2008.
[10]何黎明.船舶动力定位系统的控制方法研究[D].上海:上海交通大学,2004.
[11] Fossen T. I..Guidance and control of ocean vehicles[M].New York:Wiley, 1994.
[12] Fossen T.I., Sagatun S.I., S?rensen A.J..Identification of Dynamically Positioned Ships[J]. Control Eng. 1996, Vol.4, No.3:369—376.
[13] Fossen T.I.,Strand J.P..Passive Nonlinear Observer Design for Ships Using Lyapunov Methods:Full-Scale Experiments with a Supply Vessel[J]. Automatic. 1999,35(1):3-16.
[14]童进军,何黎明,田作华.船舶动力定位系统的数学模型[J].船舶工程,2002,5:27—29.
[15] O.M.Faltinsen.船舶与海洋工程环境载荷[M].杨建民,肖龙飞,葛春花,译.上海:上海交通大学出版社,2008.
[16] Fossen T.I.,Smogeliφ.N..Nonlinear Time-Domain Strip Theory Formulation for Low-Speed Manoeuvring and Sation-Keeping[J]. Modeling,Identification and Control,2004,25(4):201-221.
[17] Fossen T.I..A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in A Seaway[J].Journal of Bifurcation and Chaos,2005,4,1—28.
[18]金鸿章,姚绪梁.船舶控制原理[M].哈尔滨:哈尔滨工程大学出版社,2001.
[19]夏国泽.船舶流体力学[M].武汉:华中科技大学出版社,2003.
[20]方钟圣.西北太平洋波浪统计集.北京:国防工业出版社,1996.
[21]王志贤.最优状态估计与系统辨识[M].西安:西北工业大学出版社,2004.
[22] Tannuri E.A.,Kubota L.K.,Pesce C.P..Adaptive Techniques Applied to Offshore Dynamic Positioning Systems[J].J. of the Braz. Soc. of Mech. Sci. & Eng,2006,68(3):323—330.
[23]王晓声.自适应卡尔曼滤波器及其最优控制理论在船舶动力定位中的应用[D].无锡:中国船舶科学研究中心,1989.
[24]吴显法.DP半潜式平台的推力系统设计[D].大连:大连理工大学,2007.
[25] Vartdal L.,Garen R..A Thruster System which Improves Positioning Power by Reducing Interaction Losses[J]. Dynamic Positioning Conference, Houston, 2001.
[26] S?rensen J.,?dnanes A.K..High Performance Thruster Allocation Scheme in Positioning of Ships Based on Power and Torque Control[J]. Dynamic Positioning Conference, Houston, 1997.
[27] Tannuri E.A.,Pesce C.P..Dynamic Positioning of a Pipeline Launching Barge[J]. ISOPE 2002 Conference,Kyushu,2002.
[28] Tadahiro Hyakudome, Masahiko Nakamura, Hiroyuki Kajiwara , et al. Experimental study on dynamic positioning control for semi-sub-mersible platform[A]. Proceedings of the Ninth International Offshore and Polar Engineering Conference[C]. 1999,76-82.
[29] Pivano L..Thruster Estimation and Control of Marine Propellers in Four-Quadrant Operations[D]. Trondheim:Norwegian University of Science and Technology,2008.
[30] Dang J.,Laheij H..Hydrodynamic Aspects of Steerable Thrusters[J]. Dynamic Positioning Conference,Houston,2004.
[31] Fossen T.I.,Johansen T.A..A Survey of Control Allocation Methods for Ships and Underwater Vehicles[Z]. 14th IEEE Mediterranean Conference on Control and Automation, Ancona,2006.
[32] S?rdalen O.J..Optimal Thrust Allocation for Marine Vessels[J].Control Engineering Practice,2004,12:211—216.
[33] T?ndel P.,Johansen T.A.,Bemporad A..An algorithm for multi-parametric quadratic programming and explicit MPC solutions[J]. Automatica, 2003, 39:489—497.
[34] T?ndel P.,Johansen T.A.,Bemporad A..Evaluation of Piecewise Affine Control via Binary Searh Tree[J].Automatic,2003,39:743—749.
[35] Johansen T.A.,Fuglseth T.P.,Fossen T.I..Optimal Constrained ControlAllocation in Marine Surface Vessels with Rudders[Z].IFAC Conference, Girona,2003.
[36] Spj?tvold J..Parametric Programming in Control Theory[D]. Trondheim: Norwegian University of Science and Technology,2008.
[37] Johansen T.A., Fossen T.I.,Berge S.P..Constraint Nonlinear Control Allocation with Singularity Avoidance using Sequential Quadratic Programming[J].IEEE Transactions on Control Systems Technology, 2004, 12:211—216.
[38] Webster W.C.,Sousa J..Optimum Allocation for Multiple Thrusters[Z].Society of Offshore and Polar Engineers Conference,Brest,1999.
[39] Berge S.P., Fossen T.I..Robust Control Allocation of Overachated Ships: Experiments With a Model Ship[Z].4th IFAC Conference on Control of Marine Craft,Brijuni,1997.
[40] Wit C.D..Optimal Thrust Allocation Methods for Dynamic Positioning of Ships[D]. Delft: Delft University of Technology,2009.
[41]刘日强.半潜式平台动力定位系统推力分配优化算法研究[D].哈尔滨:哈尔滨工程大学,2009.
[42]姚舜才,温志明,黄刚.运动控制系统分析与应用[M].北京:国防工业出版社,2008.
[43]狄长安,陈捷,贾云飞,章启成.工程测试技术[M].北京:清华大学出版社,2008.
[2]摩根M.J.近海船舶的动力定位[M].耿惠彬,译.北京:国防工业出版社,1984.
[3]何崇德.船舶动力定位系统的应用与实践[J].中国造船,2004,45(Speci-al):279—299.
[4]王丽娟,李英辉,赵希人.模糊控制技术在船舶动力定位中的应用研究[J].船舶工程,1999,3:8—11.
[5]赵志高.动力定位控制系统的设计和研究[D].上海:上海交通大学,2002.
[6]程俊勇.模型动力定位系统的设计和分析[D].上海:上海交通大学,2002.
[7]张维竞.舰船动力装置系统仿真[M].上海:上海交通大学,2006.
[8]盛振邦,刘应中.船舶原理(下册)[M].上海:上海交通大学,2004.
[9]李殿璞.船舶运动与建模(第2版)[M].北京:国防工业出版社,2008.
[10]何黎明.船舶动力定位系统的控制方法研究[D].上海:上海交通大学,2004.
[11] Fossen T. I..Guidance and control of ocean vehicles[M].New York:Wiley, 1994.
[12] Fossen T.I., Sagatun S.I., S?rensen A.J..Identification of Dynamically Positioned Ships[J]. Control Eng. 1996, Vol.4, No.3:369—376.
[13] Fossen T.I.,Strand J.P..Passive Nonlinear Observer Design for Ships Using Lyapunov Methods:Full-Scale Experiments with a Supply Vessel[J]. Automatic. 1999,35(1):3-16.
[14]童进军,何黎明,田作华.船舶动力定位系统的数学模型[J].船舶工程,2002,5:27—29.
[15] O.M.Faltinsen.船舶与海洋工程环境载荷[M].杨建民,肖龙飞,葛春花,译.上海:上海交通大学出版社,2008.
[16] Fossen T.I.,Smogeliφ.N..Nonlinear Time-Domain Strip Theory Formulation for Low-Speed Manoeuvring and Sation-Keeping[J]. Modeling,Identification and Control,2004,25(4):201-221.
[17] Fossen T.I..A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in A Seaway[J].Journal of Bifurcation and Chaos,2005,4,1—28.
[18]金鸿章,姚绪梁.船舶控制原理[M].哈尔滨:哈尔滨工程大学出版社,2001.
[19]夏国泽.船舶流体力学[M].武汉:华中科技大学出版社,2003.
[20]方钟圣.西北太平洋波浪统计集.北京:国防工业出版社,1996.
[21]王志贤.最优状态估计与系统辨识[M].西安:西北工业大学出版社,2004.
[22] Tannuri E.A.,Kubota L.K.,Pesce C.P..Adaptive Techniques Applied to Offshore Dynamic Positioning Systems[J].J. of the Braz. Soc. of Mech. Sci. & Eng,2006,68(3):323—330.
[23]王晓声.自适应卡尔曼滤波器及其最优控制理论在船舶动力定位中的应用[D].无锡:中国船舶科学研究中心,1989.
[24]吴显法.DP半潜式平台的推力系统设计[D].大连:大连理工大学,2007.
[25] Vartdal L.,Garen R..A Thruster System which Improves Positioning Power by Reducing Interaction Losses[J]. Dynamic Positioning Conference, Houston, 2001.
[26] S?rensen J.,?dnanes A.K..High Performance Thruster Allocation Scheme in Positioning of Ships Based on Power and Torque Control[J]. Dynamic Positioning Conference, Houston, 1997.
[27] Tannuri E.A.,Pesce C.P..Dynamic Positioning of a Pipeline Launching Barge[J]. ISOPE 2002 Conference,Kyushu,2002.
[28] Tadahiro Hyakudome, Masahiko Nakamura, Hiroyuki Kajiwara , et al. Experimental study on dynamic positioning control for semi-sub-mersible platform[A]. Proceedings of the Ninth International Offshore and Polar Engineering Conference[C]. 1999,76-82.
[29] Pivano L..Thruster Estimation and Control of Marine Propellers in Four-Quadrant Operations[D]. Trondheim:Norwegian University of Science and Technology,2008.
[30] Dang J.,Laheij H..Hydrodynamic Aspects of Steerable Thrusters[J]. Dynamic Positioning Conference,Houston,2004.
[31] Fossen T.I.,Johansen T.A..A Survey of Control Allocation Methods for Ships and Underwater Vehicles[Z]. 14th IEEE Mediterranean Conference on Control and Automation, Ancona,2006.
[32] S?rdalen O.J..Optimal Thrust Allocation for Marine Vessels[J].Control Engineering Practice,2004,12:211—216.
[33] T?ndel P.,Johansen T.A.,Bemporad A..An algorithm for multi-parametric quadratic programming and explicit MPC solutions[J]. Automatica, 2003, 39:489—497.
[34] T?ndel P.,Johansen T.A.,Bemporad A..Evaluation of Piecewise Affine Control via Binary Searh Tree[J].Automatic,2003,39:743—749.
[35] Johansen T.A.,Fuglseth T.P.,Fossen T.I..Optimal Constrained ControlAllocation in Marine Surface Vessels with Rudders[Z].IFAC Conference, Girona,2003.
[36] Spj?tvold J..Parametric Programming in Control Theory[D]. Trondheim: Norwegian University of Science and Technology,2008.
[37] Johansen T.A., Fossen T.I.,Berge S.P..Constraint Nonlinear Control Allocation with Singularity Avoidance using Sequential Quadratic Programming[J].IEEE Transactions on Control Systems Technology, 2004, 12:211—216.
[38] Webster W.C.,Sousa J..Optimum Allocation for Multiple Thrusters[Z].Society of Offshore and Polar Engineers Conference,Brest,1999.
[39] Berge S.P., Fossen T.I..Robust Control Allocation of Overachated Ships: Experiments With a Model Ship[Z].4th IFAC Conference on Control of Marine Craft,Brijuni,1997.
[40] Wit C.D..Optimal Thrust Allocation Methods for Dynamic Positioning of Ships[D]. Delft: Delft University of Technology,2009.
[41]刘日强.半潜式平台动力定位系统推力分配优化算法研究[D].哈尔滨:哈尔滨工程大学,2009.
[42]姚舜才,温志明,黄刚.运动控制系统分析与应用[M].北京:国防工业出版社,2008.
[43]狄长安,陈捷,贾云飞,章启成.工程测试技术[M].北京:清华大学出版社,2008.