Control of Launch and Recovery in Enhanced Sea-States: Part of the Launch and Recovery Co-Creation Initiative

增强海洋状态下的发射和回收控制：发射和回收共创计划的一部分

• 批准号: EP/P022952/1
• 负责人: Christopher Edwards
• 金额: $ 56.05万
• 依托单位: UNIVERSITY OF EXETER
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FP022952%2F1
• 关键词: Control; Launch; Recovery; Enhanced; Sea

Currently many marine operations, such as the Launch and Recovery (L&R) from a mother ship of small craft, manned and unmanned air vehicles and submersibles, can only be attempted safely in sufficiently calm sea-states. As an example, the L&R of a small craft from a mothership typically involves the two vessels moving together in proximity (linked by a bow-line) before the main physical connection of the two via a crane/hoist mechanism. In many cases the wave-critical high risk elements of the overall task, i.e. the connection and subsequent hoist of the small craft to the parent vessel, only last for a few tens of seconds. Taking longer than this increases the operation at risk. Once the two craft are physically connected the operator is committed to initiate the hoisting process. In this context even the short term prediction of quiescent periods of vessel motion resulting from lower than average wave activity in otherwise large sea states, has considerable operational value and may allow L&R to be untaken safely in conditions which would currently be deemed unsuitable. Such enhanced L&R capabilities are very attractive to modern navies. In this project the research aim is to develop a novel approach to predicting a suitable time instant at which to initiate an L&R operation, together with a confidence measure (provided as advice to a human operator), and then to control the execution of the subsequent lift operation once initiated, using a novel form of Model Predictive Control (MPC). The key project deliverables are: (i) a prototype decision support system (DSS), running within a software simulator, which provides continuously updated short term predictive simulations over a finite-time horizon of all aspects of the recovery process; (ii) a controller for the actual physical hoist process. These two elements will exploit hydrodynamic vessel motion prediction models driven by wave predictions from a Deterministic Sea Wave Prediction (DSWP) system, and historical and real-time vessel motion sensor data. The DSS will initially be engaged as the small craft approaches the mothership and picks up a bow-line (a low risk activity), but is not yet attached to the hoist mechanism. The research will assume the presence on the mothership of a generic winch/crane lifting system with a single cable. The cable tension is a key controlled quantity and the maximum lifting force available is a major system specification parameter. The DSS will: (i) identify an appropriate moment to attach the hoist line and initiate hoisting during predicted quiescent periods; (ii) provide a confidence measure for the safety/success of that specific simulated lift. An appropriate time to attach and hoist will be identified by taking a snap-shot of the current state of both vessels (to use as initial conditions) together with short term predictions of the movement of the mothership to simulate whether it is possible to successfully recover the small craft using the MPC controller. The operator will then be presented with a current advice summary including confidence metrics. If as a result of this advice connection and hoisting is not initiated, the process repeats using a snapshot of the new current data. This cycle continues until the operator decides to engage the hoist (or the recovery is aborted). When connection/hoisting is actually initiated, the physical lifting phase will then employ the same MPC controller used in the simulation, exploiting predictions of the motion of the mothership, the actual real-time measured motions of both craft and a free body model of the small craft when suspended clear of the water.

目前，许多海上作业，例如小型船只、有人和无人机以及潜水器的母船的发射和回收（L＆R），只能在足够平静的海况下安全地尝试。例如，母舰上小型船舶的 L&R 通常涉及在通过起重机/起重机构将两艘船进行主要物理连接之前，两艘船在附近一起移动（通过船头线连接）。在许多情况下，整个任务中对波浪至关重要的高风险要素，即小型船只与母船的连接和随后的提升，仅持续几十秒。花费比这更长的时间会增加操作的风险。一旦两艘船物理连接，操作员就致力于启动吊装过程。在这种情况下，即使是对其他大型海况中低于平均水平的波浪活动所导致的船舶运动静止期的短期预测，也具有相当大的操作价值，并且可以允许在目前被认为不合适的条件下安全地采取L&R。这种增强的L&R能力对现代海军非常有吸引力。在该项目中，研究目的是开发一种新颖的方法来预测启动 L&R 操作的合适时刻，以及置信度测量（作为向操作员提供的建议），然后使用模型预测控制 (MPC) 的新型形式来控制启动后后续电梯操作的执行。关键的项目可交付成果是：（i）原型决策支持系统（DSS），在软件模拟器中运行，在有限的时间范围内提供恢复过程所有方面的持续更新的短期预测模拟； (ii) 实际物理提升过程的控制器。这两个要素将利用由确定性海浪预测 (DSWP) 系统的波浪预测驱动的水动力船舶运动预测模型以及历史和实时船舶运动传感器数据。 DSS 最初将在小型飞船接近母舰并拾起船头绳（低风险活动）时启动，但尚未连接到提升机构。该研究将假设母舰上存在带有单根电缆的通用绞盘/起重机起重系统。缆索张力是关键的控制量，可用的最大提升力是主要的系统规格参数。 DSS 将： (i) 确定连接提升绳的适当时刻，并在预测的静止期间启动提升； (ii) 为该特定模拟电梯的安全/成功提供置信度测量。将通过拍摄两艘船的当前状态快照（用作初始条件）以及母船运动的短期预测来确定合适的附着和吊装时间，以模拟是否可以使用 MPC 控制器成功回收小型船只。然后，操作员将收到包括置信度指标在内的当前建议摘要。如果由于该建议而未启动连接和提升，则使用新的当前数据的快照重复该过程。此循环一直持续到操作员决定启动提升机（或恢复中止）。当连接/提升实际启动时，物理提升阶段将采用与模拟中使用的相同的 MPC 控制器，利用母船运动的预测、船舶的实际实时测量运动以及小型船舶悬浮在水面上时的自由体模型。

项目成果

Sea trial on deterministic sea waves prediction using wave-profiling radar

利用波浪剖面雷达进行确定性海浪预测的海上试验

• DOI: 10.1016/j.oceaneng.2020.107297
• 发表时间: 2020
• 期刊: Ocean Engineering
• 影响因子: 5
• 作者: Al-Ani M

Super-twisting observation for a class of Lagrangian systems

一类拉格朗日系统的超扭曲观测

• 发表时间: 2017
• 作者: Edwards C

High-Capacity Wave Energy Conversion by Multi-Float, Multi-PTO, Control and Prediction: Generalized State-Space Modelling With Linear Optimal Control and Arbitrary Headings

通过多浮子、多 PTO、控制和预测进行高容量波浪能转换：具有线性最优控制和任意航向的广义状态空间建模

• DOI: 10.1109/tste.2021.3082510
• 发表时间: 2021
• 期刊: IEEE Transactions on Sustainable Energy
• 影响因子: 8.8
• 作者: Liao Z

An Integrated Optimal Design for Guaranteed Cost Control of Motor Driving System With Uncertainty

不确定性电机驱动系统成本保证控制综合优化设计

• DOI: 10.1109/tmech.2019.2937578
• 发表时间: 2019
• 期刊: IEEE/ASME Transactions on Mechatronics
• 作者: Zeng T

Enhanced continuous higher order sliding mode control with adaptation

• DOI: 10.1016/j.jfranklin.2018.12.026
• 发表时间: 2019-04
• 期刊: J. Frankl. Inst.
• 作者: C. Edwards;Y. Shtessel