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挖泥船动力定位系统控制,摘 要随着我国疏浚量的日益增大，对挖泥船的疏浚效率的要求也日益提高，越来越多的挖泥船开始采用动力定位系统，它是一种闭环的反馈控制系统，与传统的定位方式相比，动力定位系统完全靠自身产生的推力定位，不需要依靠外部设备，而且能够在任何水深条件下工作，对外部环境改变能做出快速响应，能实现如固定轨迹移动等特殊功能。本文在江苏省高...
内容介绍
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摘 要
随着我国疏浚量的日益增大，对挖泥船的疏浚效率的要求也日益提高，越来越多的挖泥船开始采用动力定位系统，它是一种闭环的反馈控制系统，与传统的定位方式相比，动力定位系统完全靠自身产生的推力定位，不需要依靠外部设备，而且能够在任何水深条件下工作，对外部环境改变能做出快速响应，能实现如固定轨迹移动等特殊功能。本文在江苏省高技术研究项目的支持下，将“挖泥船动力定位系统控制策略研究”作为硕士论文研究课题。根据挖泥船动力定位系统的特殊性，针对推力分配问题进行了系统的探讨与研究，论文具有明确的工程应用背景和实用价值，主要贡献如下：
根据耙吸挖泥船的动力定位系统的特殊性，阐述了耙吸挖泥船的螺旋桨选型，并分析了原因。针对18000 耙吸挖泥船的两种不同的推进器配置方案，重点分析了在这两种推进器配置方案下的推力分配问题。在第一种配置方案中，挖泥船配备一个艏侧推、两个主推和两个舵，推力分配策略为针对耙吸挖泥船的八种工作模式，根据控制系统给出的推力指令，对艏侧推、主推和舵应该产生的推力大小分别进行计算。在第二种配置方案中，挖泥船配备四个全回转推进器，推力分配的目标是最小化系统能耗，同时还要考虑推进器的推力极限、奇异结构等因素，利用序列二次规划法进行推力的最优分配。
在此基础上，引入了评估耙吸挖泥船动力定位系统控位能力的方法，即动力定位控位能力图。利用DPCAP软件，建立了耙吸挖泥船动力定位系统的计算模型，并对两种推进器配置情况下的控位能力图进行了分析。利用MATLAB软件，对两种不同的配置方案下的推力分配进行了仿真，得出分配给各个推进器的控制信号并进行了分析。
针对耙吸挖泥船动力定位八种模式，对其操作流程进行了介绍，描述了八种模式下如何进行操作，以及八种模式下如何查看船舶各种状态。
论文研究的部分研究成果已在某耙吸挖泥船上得到应用，获得了用船单位有关领导的肯定与好评。
关键词 动力定位；推力分配；序列二次规划法；控位能力图
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 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 课题研究背景 1
1.2 耙吸挖泥船的发展现状 1
1.2.1 耙吸挖泥船概述 1
1.2.2 耙吸挖泥船的国内外发展现状 2
1.3 本论文主要内容 4
1.3.1 主要研究内容 4
第2章 耙吸挖泥船动力定位系统工作模式 6
2.1 动力定位系统..
随着我国疏浚量的日益增大，对挖泥船的疏浚效率的要求也日益提高，越来越多的挖泥船开始采用动力定位系统，它是一种闭环的反馈控制系统，与传统的定位方式相比，动力定位系统完全靠自身产生的推力定位，不需要依靠外部设备，而且能够在任何水深条件下工作，对外部环境改变能做出快速响应，能实现如固定轨迹移动等特殊功能。本文在江苏省高技术研究项目的支持下，将“挖泥船动力定位系统控制策略研究”作为硕士论文研究课题。根据挖泥船动力定位系统的特殊性，针对推力分配问题进行了系统的探讨与研究，论文具有明确的工程应用背景和实用价值，主要贡献如下：
根据耙吸挖泥船的动力定位系统的特殊性，阐述了耙吸挖泥船的螺旋桨选型，并分析了原因。针对18000 耙吸挖泥船的两种不同的推进器配置方案，重点分析了在这两种推进器配置方案下的推力分配问题。在第一种配置方案中，挖泥船配备一个艏侧推、两个主推和两个舵，推力分配策略为针对耙吸挖泥船的八种工作模式，根据控制系统给出的推力指令，对艏侧推、主推和舵应该产生的推力大小分别进行计算。在第二种配置方案中，挖泥船配备四个全回转推进器，推力分配的目标是最小化系统能耗，同时还要考虑推进器的推力极限、奇异结构等因素，利用序列二次规划法进行推力的最优分配。
在此基础上，引入了评估耙吸挖泥船动力定位系统控位能力的方法，即动力定位控位能力图。利用DPCAP软件，建立了耙吸挖泥船动力定位系统的计算模型，并对两种推进器配置情况下的控位能力图进行了分析。利用MATLAB软件，对两种不同的配置方案下的推力分配进行了仿真，得出分配给各个推进器的控制信号并进行了分析。
针对耙吸挖泥船动力定位八种模式，对其操作流程进行了介绍，描述了八种模式下如何进行操作，以及八种模式下如何查看船舶各种状态。
论文研究的部分研究成果已在某耙吸挖泥船上得到应用，获得了用船单位有关领导的肯定与好评。
关键词 动力定位；推力分配；序列二次规划法；控位能力图
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 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 课题研究背景 1
1.2 耙吸挖泥船的发展现状 1
1.2.1 耙吸挖泥船概述 1
1.2.2 耙吸挖泥船的国内外发展现状 2
1.3 本论文主要内容 4
1.3.1 主要研究内容 4
第2章 耙吸挖泥船动力定位系统工作模式 6
2.1 动力定位系统..
