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，许多海洋业务，例如一艘小型工艺品，载人和无人驾驶的空中汽车和潜水员的发射和恢复（L＆R），只能在足够平静的海境中安全地尝试。例如，母亲的小型工艺的L＆R通常涉及两种船只在两者通过起重机/hoist机构的主要物理连接之前靠近（由弓线链接）一起移动。在许多情况下，总体任务的海浪高风险要素，即小型工艺与母船的连接和随后的起重机，仅持续几十秒钟。花更长的时间增加了风险的操作。一旦两种工艺与物理连接，操作员将承诺启动提升过程。在这种情况下，即使是在较大的海态中，由于低于平均波动活动的静态运动的短期预测，具有相当大的操作价值，并且可能使L＆R在目前认为不适合的条件下安全地无法安全地造成。这种增强的L＆R功能对现代海军非常有吸引力。在该项目中，研究的目的是开发一种新颖的方法，以预测适当的时间，以启动L＆R操作以及置信度度量（作为向人类操作员提供的建议提供），然后使用新颖的模型预测性控制（MPC）来控制随后的升力操作的执行。关键项目可交付成果是：（i）在软件模拟器中运行的原型决策支持系统（DSS），该系统在恢复过程的各个方面的有限时间范围内提供了连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）系统以及历史和实时血管运动传感器数据的波浪预测驱动的流体动力血管运动预测模型。当小型工艺接近母舰并捡起弓线（低风险活动）时，DSS最初将参与其中，但尚未与提升机构相连。这项研究将在具有单一电缆的通用绞车/起重机抬起系统的母舰上存在。电缆张力是钥匙控制的数量，可用的最大起重力是主要的系统规范参数。 DSS将：（i）确定一个适当的时刻，以连接提升线并在预测的静止期内启动吊式升温； （ii）为该特定模拟升降机的安全/成功提供了置信度度量。通过拍摄两种船的当前状态（用作初始条件）的快照，以及对母舰运动的短期预测，以模拟使用MPC控制器是否有可能成功恢复小型工艺，将确定一个适当的固定和提升时间。然后，将向操作员提供当前的建议摘要，包括信心指标。如果由于这种建议连接和提升而没有启动，则该过程使用新当前数据的快照重复。这个周期一直持续到操作员决定参与起重机（或恢复中止）。当实际启动连接/提升时，物理提升阶段将采用模拟中使用的相同的MPC控制器，利用了对母舰运动的预测，当悬挂在水中时，手工艺的实际实时测量动作和小型工艺的自由车身模型。

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

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

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

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

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