Adaptive interference compensation dynamic surface dredger power positioning control system and method thereof

Abstract

The invention discloses an adaptive interference compensation dynamic surface dredger power positioning control system and an adaptive interference compensation dynamic surface dredger power positioning control method in the technical field of ship engineering. The system comprises a computer, a field bus network, a position finding system, an executive mechanism, a nonlinear observer, an adaptive rate module and a controller, wherein the computer, the position finding system and the executive mechanism are connected by the bus network; the computer obtains low frequency position information and ship speed information by reading the position information from the position finding system in real time and by the nonlinear observer in the computer respectively; the controller calculates an adaptive value of interference according to the information of the nonlinear observer, performs feedforward compensation, calculates an output signal which is required to be executed by the executive mechanism, and transmits the output signal to the executive mechanism by a bus; and the executive mechanism executes an instruction of the computer to produce thrust and torque. In the system and the method, the change of dredging interference can be adaptively estimated and compensated, thereby avoiding the influence of strong dredging interference on the power positioning system and meeting the special requirements of dredger power positioning.

Description

technical field [0001] The invention relates to a control system in the technical field of ship engineering, in particular to an adaptive disturbance compensation dynamic positioning control system for a dynamic surface dredger and a method thereof. Background technique [0002] During the dredging operation of dredgers, in order to realize the continuous operation of dredging ports or rivers, it is necessary to locate the dredging position of the dredging mechanism, which requires positioning control or tracking control of the dredger. The positioning requirements are conducive to continuous dredging operations by dredgers, and at the same time occupy as little space as possible in the dredged port or river, reducing the impact on port operations. Therefore, the dynamic positioning system is an essential system for advanced dredgers. [0003] Due to the large disturbance of dredging operation, the dynamic positioning system with pure negative feedback cannot be stable. In...

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Problems solved by technology

[0005] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides an adaptive disturbance compensation dynamic positioning control system for a dynamic surface dredger and its method, which can self-adaptively estimate the change of dredging disturbance and compensate for it, thereby solving the dredging problem. The impact of disturbance on the dynamic positioning system, to solve the special requirements of dredger dynamic positioning

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