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Dynamic Positioning Nonlinear Control System of the Dredger Based on Profinet IO

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Dynamic Positioning Nonlinear Control System of the Dredger Based on Profinet IO JOURNAL OF COMPUTERS, VOL. 8, NO. 2, FEBRUARY 2013 455 Dynamic Positioning Nonlinear Control System of the Dredger Based on Profinet IO Yu-hua Zhang1, 2 1Key Lab of Control of Power Transmission and Transformation, Ministry of Education, Shanghai Jiaotong University, Shanghai, China 2School of Electrical Engineering and Automation, Henan Polytechnic University, Jaozuo, China Email: [email protected] Jian-guo Jiang and Yan-jun Jiang Key Lab of Control of Power Transmission and Transformation, Ministry of Education, Shanghai Jiaotong University, Shanghai, China Email: [email protected], [email protected] Abstract— A dredger’s dynamic positioning system (DPS) is 1st-order wave motions from the low frequency (LF) designed with real-time Profinet IO structure and nonlinear positions while reconstructing LF velocities [4, 5]. All control algorithm. Real-time industrial Ethernet is used in these have been realized by using linear Kalman filter. this system to improve the real-time performance. Unfortunately, the results of Kalman filter are only valid Noise-free estimates of the position and the velocity are locally. This motivates the research on nonlinear ship produced by the observer, and the adaptive dynamic surface control. Backstepping method is the first attempt towards control (ADSC) algorithm is adopted to solve the special problem of the dredger with strong disturbances. nonlinear output feedback control of dynamic positioning Disturbances can be estimated and compensated by system. And a passive nonlinear observer is proposed in adaptive arithmetic. This work solves the contradiction Ref. [6]. between the real-time control requirement and complex Dynamic surface control technique is an improved control algorithms well. backstepping control technique, the design process of which is executed in a step-by-step way. Nevertheless, a Index Terms—Profinet IO, Dynamic positioning system, first-order low-pass filter of the synthetic input at each dredger, nonlinear control step of the traditional backstepping is introduced, so repeated differentiations of the demands of the modeling I. INTRODUCTION nonlinearities are cancelled. Therefore the algorithm Dynamic positioning systems (DPS) are necessary for complexity caused by expansion of the differential terms dredgers to keep in a specific position or pre-defined path could be avoided, and the controller design procedure when the dredgers are dredging. Dynamic positioning could be simplified. Dynamic surface control technique technology of dredgers has developed rapidly as the has been in a continuous development ever since the late dredger market is increasing. In order to improve the 1990s [7, 8, 9]. In order to deal with the control performance of the DPS, the corresponding control difficulties of the dredger’s dynamic positioning system system structure has developed from analog to digital, under large disturbances and severe sea conditions, an and then up to bus network. References [1, 2, 3] are the adaptive dynamic surface control (ADSC) method is researches about DPS recently. proposed to be used in the dredger’s dynamic positioning The DPS overcomes interferences by the propellers system. Disturbances can be estimated and compensated around the ship with its inherent power to remain at a by adaptive arithmetic. The addition of low pass filters in certain position and orientation. So there are many backstepping design process allows the dynamic surface complex control processes in the control system, control technique to be implemented without including information collecting processes, control differentiating any model nonlinearities, which could algorithms, and thrust distribution processes. And large simplify the design significantly. amounts of data transmission require a rapid real-time network. II. CONTROL SYSTEM STRUCTURE DESIGN One real-time network of Industrial Personal Computer Fig.1 shows the main structure with Real-time (IPC)-based Profinet IO is used in this system. The IPC’s industrial Ethernet of IPC-based distributed IO. All rich soft-hardware resources are utilized well. This can Measuring equipments and propellers are connected to reduce performing time, save the cost, and enhance the the network through distributed IO module ET200s. system’s real-time ability. IPC477C, Siemens compact and high performance Classic solution to the DPS problem of ships is output computer, is selected in this system. Windows feedback designs. Use a state estimator to filter out the © 2013 ACADEMY PUBLISHER doi:10.4304/jcp.8.2.455-462 456 JOURNAL OF COMPUTERS, VOL. 8, NO. 2, FEBRUARY 2013 Automation Center Real-time (WinAC-RTX) is pre-installed, and one CP1616 Ethernet card is onboard. WinAC ODK ET200s modules connect field devices to IPC by Profinet IO systems. It is very convenient for the system's RTDLL expansion and renovation with ET200s. Many sensors STEP 7 running in WinAC and propellers are equipped in this system, such as Complex procedures Position measurement device (PEM), Gyrocompass, OB SFB65001 written Move reference unit (MRU), Wind sensor, DGPS, SFB65002 by VC++ Rudder, and so on. ET200s interface ET200s interface ET200s interface to PEM to Wind sensor to MRU PROFINET IO PROFINET Figure 2. Relationship of WinAC, WinAC IPC ODK and VC++ procedures CP1616 Start CPU reset, ET200s interface ET200s interface ET200s interface Operating parameters initialization to Propellers to Rudders to DGPS initialization block SFB65001 Figure 1. Structure of the DPS’ control system Real-time WinAC RTX, which is the core control software of the F dynamic IPC-based Ethernet network, performs complex link library Handle=0? call fails, calculations of filtering, control and thrust distribution And CPU programs. Ethernet card CP1616 is used as the controller stop. in the network. ET200s modules receive information of T position, heading, attitude, dredging reaction and wind force from the sensors. Then ET200ses transmit the information to the IPC via Profinet network. Filtering procedure isolates the ship’s low-frequency components Complex procedures position information which reflects the true position of System main loop Module OB1 written by VC++, such the ship. Thrust that each propeller should yield is SFB65002 as filtering calculated by the thrust allocation procedure according to procedures, the principle of the minimizing power consumption. control procedures, Therefore the Dredger is moved to the specified position Communication subroutines thrust or maintained at the given position. Filter program, Manual subroutine allocation Automatic subroutine procedures, control program and thrust distribution program are …… data collection written in Microsoft C/C++ language, and then these procedures programs are compiled to dynamic link libraries by WinAC ODK. These dynamic link libraries can be called T by STEP7 Program. Control algorithms of C/C++ code Error=0? Fault handler can be integrated as a standard PLC program function block in the software PLC ladder [10, 11]. In addition, F real-time control programs only occupy a small part of CPU resources of IPC in the control cycle. So there are CPU restart? enough resources of CPU that can be used by other F parallel complex tasks [12]. T Considering the complexity of the algorithms, those End complex programs are developed to many subroutines in dynamic link library (DLL) by the WinAC ODK and Figure 3. Main flow chart of control program VC++ development toolkit, and then these subroutines can be called by WinAC with the system function blocks SFB65001 and SFB65002 in Step7. Fig.2 shows the relationship between the WinAC and the control programs. © 2013 ACADEMY PUBLISHER JOURNAL OF COMPUTERS, VOL. 8, NO. 2, FEBRUARY 2013 457 system system Guidance A. System Mathematical Model An XZ-plane of symmetry is first defined for the convenience of problem statement. As shown in Fig.5, OEXEYE is the earth-fixed frame, OXY is the body-fixed frame, and Oc is the centre of gravity of the vessel. η Assume that the ship has an XZ-plane of symmetry; d surge is decoupled from sway and yaw, heave, pitch and roll modes are neglected; the body-fixed frame coordinate Controller origin is on the centre-line of the ship. In this figure, the mathematical model of the ship used for DP in a horizontal plane is described as η& =J(ψ)v (1) τ Disturbances Disturbances Mv& = -Dv+ τ +J()ψ b (2) with wave Observer Ship filtering −1 (3) bTbE& =− + bbω η Where τ dis represents environmental disturbances, LF + T η η =x[] y ψ denotes the LF earth-fixed position(x, y) wF y Measurement T ψ and heading of the ship, vuvr= [] holds the noise noise ship’s surge, sway and yaw velocities coordinated in the parameter measurements 33× Online wave model body-fixed frame. The inertia matrix M ∈ℜ which includes hydro-dynamic added inertia, is positive definite. D ∈ℜ33× will be a positive damping matrix for a straight-line stable ship. b is a three-dimensional vector which describes the bias forces due to wind, currents and higher order wave loads are lumped together in earth-fixed coordinate system. T is a three-dimensional time-constant diagonal matrix, ωb is a zero-mean white Figure 4. The block diagram of the dynamic noise, and Eb is a three-dimensional diagonal matrix positioning control system with observer which denotes amplitude of the environmental forces. is a rotation matrix WinAC programs are compiled by the programming J (ψ y ) tool Step7, and then are downloaded to WinAC. Modular ⎡ ⎤ cos(ψψyy)()− sin 0 design is adopted and control functions are compiled into ⎢ ⎥ different sub-modules. These sub-modules will be called ⎢ ⎥ J ()ψψ= sin()yy cos () ψ 0 (4) in OB1 according to the circumstances. And fault handler ⎢ ⎥ ⎢ 001⎥ will be called automatically when the system fails to run. ⎣ ⎦ The main flow chart of control program is showed in Fig. where ψ is the measured value of compass anglesψ . 3. y III. CONTROL ALGORITHMS YE Y Filtering and control algorithms are designed in this X section. Useful LF information is obtained from O ψ interference by observer, and ADSC algorithm solves the y problem of the DPS under larger disturbances.
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