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CN-121979266-A - Ship region maintaining control method based on position offset calculation

CN121979266ACN 121979266 ACN121979266 ACN 121979266ACN-121979266-A

Abstract

The invention relates to a ship region holding control method based on position deviation calculation, which comprises the steps of (1) inputting a closed polygon outer boundary point held by a ship dynamic positioning region, setting a specific region in the outer boundary as an inner boundary, controlling a ship to move to the center of the region holding region, (2) closing control of a ship propeller to enable the ship to freely drift along with environmental force, if the ship moves to the inner boundary, calculating the direction of a connecting line of the current position of the ship and the region centroid position, recording the direction as the optimal heading direction of the ship, (3) controlling the ship to move back to the position of the region holding center, and then closing control of the longitudinal and transverse positions of the ship, (4) recalculating the connecting line of the current position of the ship and the region centroid position to the inner boundary under the action of the environmental force, and updating the optimal heading direction, (5) moving the ship to the region holding center, and repeating the operations of steps (3) to (4).

Inventors

  • YANG JINGYU
  • ZHONG YIMING
  • Tao Yinhe
  • LIU BIN
  • Dong jiuyang
  • LEI WENHUI
  • WANG SHUOFENG
  • CHEN ZHONGYAN

Assignees

  • 中国船舶集团有限公司第七〇四研究所

Dates

Publication Date
20260505
Application Date
20260126

Claims (6)

  1. 1. A ship region holding control method based on position deviation calculation is characterized by comprising the following steps of (1) inputting a closed polygonal outer boundary point held by a ship dynamic positioning region, setting a specific region in the outer boundary as an inner boundary, controlling a ship to move to the center of the region holding region, (2) closing control of a ship propeller, enabling the ship to freely drift along with environmental force, if the ship moves to the inner boundary, calculating the direction of a connecting line of the current position of the ship and the position of a region centroid, recording the direction as the optimal heading direction of the ship, (3) controlling the ship to move back to the position of the region holding center, then closing control of the longitudinal and transverse positions of the ship, only holding control of the degree of freedom of the heading of the ship, enabling the heading of the ship to be kept at the optimal heading, (4) recalculating the direction of the connecting line of the current position of the ship and the position of the region centroid and updating the optimal heading direction, and (5) moving to the region holding center, and repeating the operations of steps (3) to (4).
  2. 2. The method according to claim 1, wherein in step (1), a center point of the region holding area is determined from a centroid position calculated from the closed outer boundary polygon point, and a longitude and latitude coordinate of the centroid position is denoted as [ ] , )。
  3. 3. The positional deviation calculation based ship region maintenance control method according to claim 2, wherein in step (2), the optimal heading direction is recorded as ψ target .
  4. 4. The method for maintaining and controlling a ship region based on position offset calculation according to claim 3, wherein the calculation method of ψ target is as follows if the longitude and latitude coordinates of the ship are [ ] , ) When the north distance is calculated as follows: and calculating the east distance as follows: r is the average radius of the earth, the optimal heading of the ship 。
  5. 5. The positional deviation calculation-based ship region maintenance control method according to claim 1, wherein in step (3), the control of the degree of freedom of the ship bow is achieved by activating the thrust force generated by the propeller.
  6. 6. The ship region maintenance control method based on the position deviation calculation according to claim 1, wherein the ship dynamic positioning control system is turned on before the step (1) is performed.

Description

Ship region maintaining control method based on position offset calculation Technical Field The invention relates to a ship positioning technology, in particular to a ship region holding control method based on position deviation calculation. Background With the development of world economy, the problems of energy and resources are highlighted, the marine resource mineral products are the focus of attention, and the dynamic positioning technology can keep the direction of a certain position on the sea by a real ship without being limited by the water depth, so that the system becomes an indispensable support system in the development and engineering operation of the marine mineral products. The dynamic positioning area maintaining technology mainly comprises the steps of controlling a propeller to generate certain thrust to enable a ship to be maintained in a certain working area, enabling the ship to be maintained to move in the optimal heading direction, reducing energy consumed by ship positioning and achieving the optimal energy saving effect. An important link in the area maintenance of a ship is to search for an optimal heading, which determines the energy consumption of the area maintenance. The traditional fuzzy control method based on power and stress needs to rotate the ship for 360 degrees, and the optimal angle is selected and controlled according to the energy consumption of side pushing or the magnitude of force generation, but the whole process has long searching time and high energy consumption. Disclosure of Invention Aiming at the problems, the invention provides a ship region maintaining control method based on position deviation calculation, which simplifies the heading optimizing process. The technical scheme includes that the ship region holding control method based on position deviation calculation comprises the following steps of (1) inputting a closed polygonal outer boundary point held by a ship dynamic positioning region, setting a specific region in the outer boundary as an inner boundary, controlling a ship to move to the center of the region holding region, (2) closing control of a ship propeller, enabling the ship to freely drift along with environmental force, (5) calculating the direction of a connecting line of the current position of the ship and the position of a region centroid if the ship moves to the inner boundary, recording the direction as the optimal heading direction of the ship, (3) controlling the ship to move back to the position of the region holding center, then closing control of the longitudinal and transverse positions of the ship, only maintaining control of the degree of freedom of the heading of the ship, enabling the ship to drift to the position of the optimal heading, calculating the direction of the connecting line of the current position of the ship and the position of the region centroid again when the ship is in the inner boundary, updating the optimal heading direction, (5) moving to the region holding center, and repeating the operations of steps (3) to (4). Further, in the step (1), the center point of the region holding region is determined by the centroid position calculated by the closed outer boundary polygon point, and the longitude and latitude of the centroid position is marked as #,)。 Further, in step (2), the optimal heading direction is recorded as ψ target. 4. The method for maintaining and controlling a ship region based on position offset calculation according to claim 3, wherein the calculation method of ψ target is as follows if the longitude and latitude coordinates of the ship are [ ],) When the north distance is calculated as follows: and calculating the east distance as follows: r is the average radius of the earth, the optimal heading of the ship 。 Further, in step (3), control of the degree of freedom in the bow of the vessel is achieved by enabling thrust produced by the propeller. Further, before executing step (1), turning on the vessel dynamic positioning control system. The invention has the beneficial effects that: The invention provides a ship region holding control method based on position deviation calculation, which can calculate the optimal heading of a ship by utilizing a ship motion track and avoid time waste and energy loss caused by searching for region holding through ship rotation. According to the invention, the optimal heading maintained by the ship region is obtained according to the movement position condition of the ship in the process of controlling the ship region to be maintained in the movement process of the ship, so that the energy consumption and time for optimizing the ship heading are reduced, and the control method is simple and reliable. Drawings FIG. 1 is a control flow diagram of the present invention; FIG. 2 is a schematic diagram of step 1 of the control flow of the present invention; FIG. 3 is a schematic diagram of step 2 of the control flow of the present invention; FIG. 4 is a sche