KHOA HOC - CONG NGHE
Tap Chl GTVT 6/2011 I
Md HINH VA MO PHONG CHUYEN DONG CUA TAU THUY TREN SONG
TS. LE THANH TUNG Trudng Dai hgc Bach khoa Ha ndi Tom t i t : Bd dieu khien tren tau thuy cd nhiem
vy giai quyet bai toan dn dinh hudng hay dn dinh quy dao. Trong bai toan dn dinh hudng, bg dieu khien ein dam bao sal lech tmh va phuong sai gde hudng nim trong pham vl cho phep phy thudc vao dieu kien mdi trudng. Trong qua trinh van hanh, dieu kien ben ngoai thay ddi, do vay tham sd bg dieu khien cin duge hieu chinh phu hgp. Trong thuc te, viee xac dinh cac tham sd mdt each tuong ddi ehinh xac khong phai la van de di dang. Tuy nhien, vl$c xac dinh so bd cac tham so cd the thue hien thong qua md phdng. Bai bao trinh bay md hinh chuyen ddng cua tau tren sdng bien, eho phep mo phong va khao sat chat lugng hoat ddng eua he thdng tu ddng dn dinh hudng chuyen ddng tau trong cac dieu kien moi trudng ben ngoai khae nhau.
Abstract: The main duty of ship autopilot Is sta- bilizing the selected course or trajectory. In heading problem the controller must guarantee the mean and variance of the course within a limit depending on external conditions. In operation, the external con- ditions change, so the controller's parameters must be changed. Practically, the exact definition of these parameters is not simple problem. However, prelim- inary definition ean be carried via modeling. In this paper a model of ship motion in the wave is pre- sented. The model allows to model and estimate the performance of the ship autopilot in different condi- tions of external environment.
Mddau
Tau thuy hien dai dupe trang bj autopilot ed nhiem vu duy tri hudng ehuyen ddng hay quy dao ehpn trudc.
Trong bai toan dn djnh hudng autopilot phai dam bao sai lech tTnh va phuong sai gde hudng nam trong pham vi eho phep trong dieu kien mdi trudng nhat djnh (cap sdng...) [1]. Khi dieu kien mdi trudng thay ddi tham sd cua bd dieu khien can dupe dieu chmh phu hpp. De' danh gia chinh xac chat lupng hoat ddng cua bd dieu khie'n ta can thQ nghiem nd trong dieu kien thuc. Ben canh dd, trong mdt sd trudng hpp hudng ehuyen ddng cua tau can chpn de tranh tinh trang edng hudng. Danh gia sd bd chat lupng hoat ddng cua autopilot va xac djnh hudng ehuye'n ddng cd the nhan dupe thdng qua md phdng chuyen ddng eua tau tren sdng. Trong bai bao nay gidi han ddi tupng nghien cUu la tau mat nude dupc dieu khien bang banh lai.
Md hinh chuyen dpng tau thuy tren sdng Md hinh chuyen ddng eua tau tren sdng dupe xay dyng tren cac gia thiet sau:
* Bd qua djch ehuye'n cua tau theo phUPng thang dUng. Coi ehuye'n ddng dien ra tren mat phang dudng nude.
* Su nghieng ngang cija tau khdng anh hudng den IUc thuy ddng tac dyng len than tau.
* Lyc quan tinh tac ddng len tau dupe tfnh vdi gia
thiet tau ddi xUng qua ca mat cat dpc.
va mat eat ngang giOa tau. Trpng tam tau nam tren mat dudng nUdc.
* Bd qua anh hudng cua sd Froude va tu the tau, sQ dung gia thie't gia dUng trong xae djnh lyc va mo- ment thuy ddng ngudn gd'c phi quan tinh. Md hinh chuyen ddng tren sdng cua tau dupe thanh lap tU md hinh ehuyen ddng cua tau tren nUde tTnh va md hinh sdng bie'n.
Md hinh chuyen ddng eua tau tren nddc tfnh
Hinh 1. He tga do va tham sd chuyen ddng cua tau thdy
Theo [3] phUPng trinh ehuyen ddng cua tau tren nude tTnh cd dang:
-pV(l + k „ ) ^ ' ' + p V ( l + k „ ) v p ^ -
dt dt - p V ( l + k , , ) v o 3 p - C ^ o 5 v ^ A , „ -
Py^A
-i-TRE ^ ^E
p V ( l + k , , ) ^ p + p V ( l + k , , ) v ^
dv.
at dt
•pV(l-(-k„)va)-H(CP P + c ' ! p | p ) ^ v ' A
• C " ,„ IRML
• X E ( P + « ) V
P y ^ A , 2 '
Izz(l + k , J deo
-vA, dt L'co-^
' - M P J I , L P -
" ' " ^ Y R ' R
„ ,„ IRML
5 - X E ( P + « ) P y ^ A . 0
vdi V - van td'c chuyen ddng cua tau; p - khdi lUpng rieng eua nUdc bien; co - van td'c gde quay quanh true t h i n g dUng (van td'c gde dao lai); p - gde dat; cp - gde hudng ehuye'n ddng (gde dao lai); 6 - gde be lai; TE - lUe day chan vjt. Cae thdng sd khae phu thude vao kfch thude, hinh dang than tau va banh lai va phan bd tai trpng tren tau, dupc xae djnh thdng qua thQ nghiem md hinh hoae tau thyc. Tham sd chuyen ddng cua tau dupc the hien tren hinh 1.
KHOA HOC-CONG NGHE
Khi khao sat hoat ddng cua he thdng dn dinh hudng, thay ddi van tdc chuyen ddng cd the dupc bd qua. Lue nay he phUOng trinh chuyen ddng cija tau tren mat phang ngang cd the viet dUdi dang [1,2,3]:
deo dt dp dt
dcpdT
+ r3|©-i-
-i-r2,co +
= CO
q3,p + S3
q^iP + h, ,5 =
PP
0;
+ s n5
0;Hay dudi dang sP dd khdi trong Simulink:
0)
K13
Hinh 2. So dd khdi mo hinh chuyen ddng cua tau tren nude tinh
Mo hinh song bie'n, IQc va moment song bie'n Sdng bie'n tren thUe te la qua trinh khdng dUng. De md phdng sdng bie'n ngUdi ta xem nd la qua trinh n g i u nhien egodic vdi tung dp sdng la ham dUng n g i u nhien theo thdi gian dupe dac trUng bdi phan bd phd va mat dp phan bd chieu cao sdng.
De danh gia cUdng dd sdng ngUdi ta sQ dyng khai niem chieu cao sdng vdi dd dam bao nao dd h|^o/^ (xac suat vUpt chieu eao nay la k%) hoac phUPng sai tung dp sdng Dp Thdng thudng ngudi ta sQ dyng chieu cao sdng 3%. Khi dd quan he giOa chieu eao sdng va phUPng sai tuan theo djnh luat Reylight [2,3,4]:
hj./^ =5.29 D,;D^ =0.0538h3l/„
Cap sdng va chieu cao sdng h3o/^ trinh bay trong bang 1.
Bang 1. Dae trung sdng bien Cap sdng
1 2 3 4 5
h3% m
0-0.25 0.25-0.75 0.75-1.25 1.25-2.00 2.0-3.5
Cap sdng 6 7 8 9
h3% m
3.5-6.0 6.0-8.5 8.5-11
>11 Phd tinh toan cua sdng bien cd the dUpc bleu d i i n dudi nhieu dang khae nhau [2,3,4], Tuy nhien, trong md phdng, de' thuan tien ngUdi ta thudng sQ dyng dang phan thyc hOu ty:
4D a o '
8 , = — ; -. 7—\ ; T- (2)
' a - * + 2 ( a - - p ' ) a ' + ( a ' + p ' )
vdi a - tan sd; p - tan sd phd eye dai, phu thude vao van tdc va hudng ehuye'n ddng cua tau so vdi sdng (gde gap sdng); a = 0.2ip.
Khi dd bien dp sdng la dau ra eua bd lpc hpp thanh
vdi ham truyen: H(s)= ., . ^2 khi dau vao la n h i i u trang cdng suat ddn vj.
Hinh 3. Thay ddi tung do sdng theo thdi gian(sdng eip 4)
Lyc va moment sdng bien gdm hai thanh phan khdng ddi (bie'n thien cham) va thanh phan bie'n ddi.
Theo [2,3,4] thanh phan bien thien cham cd the xac djnh theo eae edng thUe:
Ro = 0.5gp Lh3V„Co ; Mg, = gp Vhl^m
'Ozvdi Cgy; mgy - he sd khdng thU nguyen phy thupc vao kich thude tau, budc sdng va gde gap sdng y.
Thanh phan bien ddi duoc xac dinh theo edng thiJc [3,4]:
R, = m e / t ) ; M, = I „ o ' dO,
z zz ^ ^
(3) vdi m - khdi lupng tau; 1^^ - moment quan tinh khdi lupng tau so vdi tryc z; 6^(1) - thanh phan ngang cija gde nghieng sudn sdng quy ddi. Phd eua gde nghieng sudn sdng quan he vdi phd tung dp sdng theo cdng thUe:
S e ( o ) = , S , ( 0 )
(4) Nhu vay, phUPng trinh ehuye'n ddng cua tau tren sdng cd dang:
deo dt
dpdt
dtp-Hr3,o)-Hq3,p + s3,5 = M ^ ; + r2,M + q2,P + h , p p + s2,5 = Ry;
(5)
dt CO vdi M i
Izzd + kgg) ;Ry =
R
OvR,
pvV(l + k22) (6) Bp dieu khien
^ Bd dieu khie'n trong he thdng dn djnh hudng dUdc tdng hpp dUa tren md hinh tuye'n tinh chuyen ddng cua tau tren nudc tTnh
KHOA HOC - CONG NGHE Tap Chl GTVT 6/2011
d dt
• 3 i - q 3 i 0 "
" 2 i - q 2 i O
0 0
CO
p
_^_
-1- ' - S 3 , '
- S j ,
0
De giam sai sd tTnh ta dua vao khau tieh phan, sQ dung bien bd sung
(it <P-
Khi dd ta cd md hinh tuyen tinh md rdng sQ dyng cho tdng hpp bd dieu khien
50 G O O
sdng cap 4
d dt
CO
P
(P
- r 3 , - q j , 0 0"
-r^i -q2, 0 0 1 0 0 0 0 0 1 0_
CO
P
(P
^_
+
' - S 3 1 '
0 0
5
Ket qua mo phdng
Md phdng dupe thyc hien eho tau vdi eae tham sd sau [2]:
r3i=0.455; q3i=-0.551; S3i=0.0126;
sdng cap 4
sdng cap 5 sdng cap 5
Hinh 4. Thay ddi goc hudng theo thOI glan. Bg Hinh 5. Thay ddi gde hudng theo thdi glan. Bd dieu khien 1 dieu khien 2
m
KHOA HOC - CONG NGHEr2i= -0.683; q2i=-0.129; S2i=0.0124;
hi=0.026;
van tdc ehuye'n ddng v=1Dm/s;
chieu dai L=100 m
Bd dieu khie'n G dupe tdng hpp sQ dung ham Place trong Matlab. Cac die'm cue ehpn trUde la:
1. -0.55;-0.25;-0.15;-0.01 G =-64.2030; 2.6579; -38.0623; -0.3752 2. -0.55; -0.45; -0.35; -0.01
G =-25.1926; -4.7236; -9.5616; -0.0893
Tren hinh 4, 5 trinh bay thay ddi gde hudng ehuyen ddng, sai lech tTnh va phUPng sai eua nd vdi cac gde gap sdng khae nhau trong dieu kien sdng cap 4, 5 eho eae trudng hpp 1 va 2. Bang 2 trinh bay sai lech tTnh va phUPng sai gde hudng (tQ sd - sai lech tTnh; mSu sd - phUPng sai).
Bang 2. Sal lech tmh va phuong sal gde hudng
B6 dieu khien 1
h= 2 m h= 3.5 m
y"
15 0.0269 1.7295 0.0946 0.7442
4 5 -0.0182 18.7513 1.1811 4.9576
7 5 0.4268 1.4926
--
Bp c3ieu khien 2
h= 2 m h= 3.5 m
v"
15 0.2535 1.3855 0.0521 0.6795
4 5 0.3109 7.9776 0.6337 5.1759
7 5 0.2535 1.3855
--
Ket qua md phdng eho thay to" -'' nQ 9 ° ^ gap sdng ma phuong sai gde hudng -^ trj Idn. Trong vung nay hien tupng dao lai d i i n <anh. Vdi mdi bp dieu khie'n khae nhau vung nay cung se khae nhau, Dac biet ddi vdi tau dang xet hien tupng mat dn djnh dieu khien xay ra d sdng cap 5, khi gde gap sdng la 75°, the hien d sy tang gde hudng theo thdi gian.
Ket luan
Bai bao trinh bay phUPng phap md phdng hoat ddng eua he thdng dn djnh hudng (autopilot) eua tau tren sdng, cho phep xae djnh sO bd hudng chuyen ddng an toan trong dieu kien sdng Idn va lUa ehgn tham sd bd dieu khien dap Qng eae yeu eau dat ra.
Tren eP sd nay ed the xay dQng bd dieu khien vdi tham sd thay ddi theo dieu kien mdi trudng •
Tai lieu tham khao
[1]. Berezin S. la, Tetuev B. A. Systemui av- tamatitreskava upravlenhia dvigienhiem sudav po cursu.
L, Sud.: 1990
[2]. Lukomsky .lu. A, Kortranov V.M. Upravlenhie marskimi padviginuimi abiektami. SP.: Elmor,1996
[3]. Voitkunsky la. la. Spravotrnhic pa taen korablia:
V 3 l. Sudostroenhie, 1985.13
[4]. Voitkunsky la. la. Spravotrnhic pa toeri korablia:
v3 t. Sudostroenhie, 1985.12
NGHIEN Cffu (TNG DUNG.
(Tiep thea trang 28) Tren eae m i u udn, tien hanh thi nghiem sieu am dp ddng nha't cua be tdng cua tUng cap phdi. CQng theo phan tich d tren cho thay SCC cd dp ddng nha't rat cao do hieu qua eua viec sQ dung phy gia khoang lam tang dp dac chac eua ket cau. Ke't qua thi nghiem dp ddng nhat cua be tdng dupe the hien d Bang 6 se eho thay dieu dd. {Xem bang 6)
He sd K dupe xac djnh theo 22 TCN 274:1998 cho thay: dd ddng nhat cua cac m i u be tdng tU dam dat tieu ehuan de ra.
4. Ket luan:
- Nhu vay cd the thay viec ehe tao mdt cap phdi SCC tren cP sd vat lieu da chpn la hoan toan cd the' thuc hien dupe.
- Chung ta ed the' sQ dung dupe cac loai vat lieu dja phuong de' thiet ke thanh phan cap phdi be tdng mac eao dung cho nhung cdng trinh dang thi cdng va nhOng cdng trinh cai tao trong dja ban thanh phd va ca khu vUe mien Trung Tay Nguyen •
Tai lieu tham khao:
[1] GS.TS Pham Duy HQu, TS Dao Van Dong (2009), Vat lieu xay dung mdi, NXB Giao thdng Van tai.
[2] PGS.TS Pham Duy HQu (2005), Cdng nghe betdng va betdng dae biet, NXB Xay dung.
[3] KS. Nguyin Xuan Bich (2005), Sda chda va gia cd ket eau Be tong edt thep, NXB Khoa hpc ky thuat. Ha Ndi.
[4] TS. Nguyen Thanh Bang, Ths. Pham Dufc Trung (2006), Anh hddng cua phu gia khoang haat tinh Silica - fume den tfnh cha't eua be tdng, Vien KHCN Xay dung.
[5] The European Guidelines for Self-Compacting concrete-Specification, Production and use, 5/2005.
[6] Application of Self-compacting concrete in Japan, Europe and the United State. Masahiro Ouchi, Kochi University of Technology, Kochi Japan. Sada- aki Nakamura, PC bridge Company, Ltd., Tokyo, Japan. Thomas Osterberg and Sven-Erik Hallberg, Swedish National Road Administration, Borlange, Sweden. Myunt Lwin, Federal Highway Administra- tion, Washington, D.C., U.S.A.
[7] ASTM C494/C494M-99a, Standard Specifica- tion for Chemical Admixtures for concrete.
[8] Economic Impact of SCC in Precast Applica- tion. David J. Martin - Sr. Marketing Manager, Precast Master Builder, Ine.
[9] Bulent Erkmen (2001), Self-Compacting Con- crete far Presressed bridge Girders. In Partial Fullfile- ment of the Requirements for the Dgree of Doctoral Philosophy.
[10] Nguyin Thanh Lap, Nghien cdu dng dung be tdng td dam sd dung vat lieu dia phddng, Luan van Thae sy Ky thuat, 2010.
[11] Hoang PhQdng Hoa, Nguyin Thanh Lap, Nghien cdu dng dung be tong td dam sd dung vat lieu dia phaang,(phan 1) Tap ehi Khoa hpe va Cdng nghe, Dai hpe Da Nang, sd 3(42) 2011.
