11澳大利亚船舶运动控制和模型

03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia1ShipMotionControlandModels(Module9)DrTristanPerezCentreforComplexDynamicSystemsandControl(CDSC)Prof.ThorIFossenDepartmentofEngineeringCybernetics03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia2Guidance,NavigationandControl(GNC)03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia3Guidance,NavigationandMotionControlGuidance:istheactionorthesystemthatcontinuouslycomputesthereference(desired)position,velocityandaccelerationofavesseltobeusedbythecontrolsystem.Thesedataareusuallyprovidedtothehumanoperatorandthenavigationsystem.NavigationisderivedfromtheLatinnavis,ship,andagere,todrive.Itoriginallydenotedtheartofshipdriving,includingsteeringandsettingthesails.Thisincludesplanningandexecutionofsafe,timely,andeconomicaloperationofships,underwatervehicles,aircraft,andspacecraft.Control:istheactionofdeterminingthenecessarycontrolforcesandmomentstobeprovidedbythevesselinordertosatisfyacertaincontrolobjective.03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia4GuidancesystemGeneratesthedesiredtrajectories(position,velocityandacceleration).ƒThewaypointgeneratorestablishesthedesiredwayponitsaccordingtomission,operatordecision,weather,fleetoperations,amountofpoweravailableetc.ƒThewaypointmanagementsystemupdatestheactivewaypointbasedonthecurrentpositionoftheship.ƒThereferencecomputingalgorithmsgenerateasmoothfeasibletrajectorybasedonareferencemodel,theshipactualposition,amountofpoweravailable,andtheactivewaypoint.03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia5NavigationSystemHYDROACOUSTICPOSITIONINGSYSTEMTAUTWIRESURFACEREFERENCESYSTEMSATELLITENAVIGATIONSYSTEM(DGPS/GLONAS)GeneratesappropriatefeedbacksignalsƒSensorsSatellitenavigationsystems,GPS,radar,gyros,accelerometers,compass,HPR,etc.ƒSignalqualitycheckingStatisticanalysis,faultdetection,voting,datafusion.ƒReferenceframetransformationtranslatethemotiontothatoftheoriginoftheadoptedreferenceframe.GPSANTENNAHPRTRANSDUCERVRUSet-pointRegulation,TrajectoryTrackingControlorPathFollowingControl?9Set-PointRegulation:Themostbasicguidancesystemisaconstantinput(set-point)providedbyahumanoperator.Thecorrespondingcontrollerwillthenbearegulator.Examplesofset-pointregulationareconstantdepth,trim,heelandspeedcontrol,etc.9TrajectoryTrackingControl:Theobjectiveisforthepositionandvelocityofthevesseltotrackgivendesiredtime-varyingpositionandvelocityreferencesignals.Thecorrespondingfeedbackcontrollermustthenbeatrajectorytrackingcontroller.Trackingcontrolcanbeusedforcourse-changingmaneuvers,speedchanging,attitudecontrol,etc.Anadvancedguidancesystemcomputesoptimaltime-varyingtrajectoriesfromadynamicmodelandapredefinedcontrolobjective.Ifaconstantset-pointisusedasinputtoalow-passfilter(referencemodel)theoutputsofthefilterwillbesmoothtime-varyingreferencetrajectoriesforposition,velocityandacceleration(PVA).9PathFollowingControl:Followapathin3Dindependentoftime(geometricassignment).Inaddition,adynamicassignment(speed/acceleration)alongthepathcanbeassigned.Thecorrespondingcontrollerisapathfollowing/maneuveringcontroller.03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia603/09/2007One-dayTutorial,CAMS'07,Bol,Croatia7ShipMotionControlThetaskofashipmotioncontrolsystemconsistsofmakingtheshiptotrack/followadesiredtrajectoryorpath.Sometimesthisalsoincludesmotiondamping.Inmostshipoperationalconditions,thedesiredtrajectoryisslowlyvaryingmotion(LFmotion)comparedtotheoscillatorymotioninducedbythewaves(WFmotion).=+TotalmotionOscillatorymotion(dueto1storderWaveinducedloads)Slowlyvaryingmotion(dueto2ndWaveloads,current,wind)03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia8ShipMotionControlObjectivesDuetothemotionofships,motioncontrolproblemscanhavedifferentobjectives:ƒControlonlytheLFmotions(Autopilots,DynamicPositioning(DP),Positionmooringsystems)ƒControlonlytheWFmotions(Heave,rollandpitchstabilisation,ridecontrol)ƒControlboth(DPwithrollandpitchstabilisationinhighseas,coursekeepingandrollstabilisation)DynamicPositioningAutopilotRollstabilisation03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia9PlantControlSystemGeneratesappropriateactuatorcommands.ƒWavefilter(observer):RecoverslowlyvaryingmotionsignalsfromthetotalmeasurementsƒController:Generatesforcecommands(desiredcontrolaction)ƒControlallocation:Translateforcecommandsintoactuatorcommands(RPM,PWR,Torque).03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia10WaveFilteringRemovesfirstorder(oscillatory)wave-inducedmotionExamplecourseautopilotwavefilteringPerez(2005):HeadingangleHeadingrateRudderangle03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia11ControlAllocationxτControldemandyτψττSomemarinecontrolsystemsareover-actuatedtoguaranteereliabilityandhighperformance–optimizationproblemForceandmomentsActuatorcommandaτActualcontrolaction03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia12MarineControlProblemsandModelsPipelayingvesselGeologicalsurveyHeavyliftoperationsPositionmooringPipeandcablelayingROVoperationsVibrationcontrolofmarinerisersCablelayingvessel03/09/2007One-dayTutorial,CAMS'07,Bol,Croatia13ItaliansupplyshipVesuviorefuelingtwoshipsatsea.Courtesy:Hepb