基于滑移矩阵的铺管路径规划与导引控制方法.  

A Method of Path Planning,Path Coding and Guidance of Pipe Laying Motion Based on Sliding Matrix

作　　者：姜迈 王远明[3] 吴昌楠 金忠宇 JIANG Mai;WANG Yuan-ming;WU Chang-nan;JIN Zhong-yu(Criminal Investigation and Counter-Terrorism College,Criminal Investigation Police University of China,Shenyang Liaoning 110854,China;Ministry of Public Security Key Laboratory of Trace Inspection and Identification Technology,Criminal Investigation Police University of China,Shenyang Liaoning 110854,China;Tianjin Navigation Instruments Research Institute,Tianjin,300131,China;Jiangsu Automation Research Institute,Lianyungang Jiangsu 222000,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China)

机构地区：[1]中国刑事警察学院侦查与反恐怖学院,辽宁沈阳110854 [2]中国刑事警察学院痕迹检验鉴定技术公安部重点实验室,辽宁沈阳110854 [3]天津航海仪器研究所,天津300131 [4]江苏自动化研究所,江苏连云港222000 [5]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2024年第4期119-128,共10页Computer Simulation

基　　金：国家重点研发计划资助项目(2018YFC1406000);公安部技术研究计划(.2020JSYJC26,2019JSYJC23);公安理论及软科学研究计划(2019LLYJXJXY055,2019LLYJXJXY057)。

摘　　要：为了实现深水海洋管道的连续铺管作业、满足铺管的路径和导引信息的自动更等新要求,提出了一种基于滑动矩阵的路径分析、路径映射与路径导引的方法,建立了一种基于铺管接触距离的管道路径和船舶路径的映射关系,给出了一种适合动力定位铺管船的曲线路径跟踪的LOS视线导引算法,设计了一种船舶位置、姿态和速度控制的多目标铺管运动控制器。海洋连续铺管仿真作业的结果表明:本方法可在风浪流的环境干扰下,实现连续铺管作业过程中的路径自动识别、自动规划、自动导引和位置控制等目标,同时满足铺管速度和航向角等控制要求,对于船舶动力定位和水下机器人运动的路径规划和导引控制方法的研究具有较强的理论意义和工程价值。In order to realize the continuous pipe-laying operation of deep ocean,a path analysis method based on sliding matrix and path coding of the pipe-laying waypoint table is proposed,which can automatically update the pipe-laying path and its control information.A mapping relationship between the pipeline path and the vessel path based on the pipe laying touchdown distance is derived,and a LOS guidance algorithm suitable for the arc curve path tracking of the DP ship is presented.A pipe-laying motion controller for vessel position,attitude and speed control is constructed.The simulation results of the continuous laying operation show that:this method can achieve path planning,path coding,guidance and position control of the continuous pipe laying operation under the environmental interference of wind,waves and currents,while maintaining desired motion speeds and heading angles.It is important for the research of the dynamic positioning control system of the pipe-laying vessel.

关 键 词：动力定位铺管船 路径规划 滑动矩阵 路径映射 视线导引 多目标运动控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]