Motion control system and controllers for a marine vessel
A high-level motion controller provides a lower-level thrust allocation with generalized forces demanded on the ship for the current instant of time as well as a prediction of future generalized forces { τ ˆ D } t = 0 T demanded over a predicted future time, and optionally one or more other reference predictions, such as a time-varying velocity and position of the ship { η ^ D , v ^ D } t = 0 T . When predictions of the future desired forces and torque are made available to the lower-level thrust allocation, the lower-level thrust allocation will be aware of what is needed in the future and use the predictions to make efficient changes towards the desired future references, when it generates control signals to thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the individual thrusters.
1 . A motion control system, comprising:
a higher-level motion controller and a lower-level thrust allocation controller for controlling motion of a marine vessel, the higher-level motion controller being decoupled from the lower-level thrust allocation controller to allow a modular design,
wherein the higher-level motion controller is configured to determine desired generalized forces to be exerted on the marine vessel by a thruster system to achieve a desired motion of the marine vessel, and to input the desired generalized forces to the lower-level thrust allocation controller,
wherein the lower-level thrust allocation controller is configured to generate, based on the desired generalized forces, control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the plurality of individual thrusters, at least one of the plurality of individual thrusters being a rotatable or azimuthing thruster, and the control signals of the at least one rotatable or azimuthing thruster controlling at least a thruster orientation and a generated thrust,
wherein the higher-level motion controller is configured to determine and input to the lower-level thrust allocation controller both the desired generalized forces for the current instant of time and the desired future generalized forces to be exerted on the marine vessel, and
wherein the lower-level thrust allocation controller is configured to take the desired future generalized forces into account in generation of the control signals to the plurality of individual thrusters for the current instant of time.
2 . The motion control system as claimed in claim 1 , wherein
the higher-level motion controller is configured to input to the lower-level thrust allocation controller both the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel, and a prediction of future generalized velocity of the marine vessel and/or a prediction of future generalized position of the marine vessel, and
the lower-level thrust allocation controller is configured to take the desired future generalized forces, and the predicted future generalized velocity of the and/or the predicted future generalized position of the marine vessel, into account in generation of the control signals for the current instant of time.
3 . The motion control system as claimed in claim 1 , wherein:
the lower-level thrust allocation controller is configured to receive the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel from the high-level motion controller,
the lower-level thrust allocation controller is configured to receive allocation parameters from the high-level motion controller or an allocation parameter calculation unit, and
the lower-level thrust allocation controller is configured to take the desired future generalized forces, and the allocation parameters, into account in generation of the control signals for the current instant of time.
4 . The motion control system as claimed in claim 1 , wherein the lower-level thrust allocation controller is configured to estimate and use at least a propulsion force of the at least one rotatable or azimuthing thruster in generation of the control inputs.
5 . The motion control system as claimed in claim 4 , wherein the lower-level thrust allocation controller is configured to estimate and use both a propulsion force and a rudder force of the at least one rotatable or azimuthing thruster in generation of the control inputs.
6 . The motion control system as claimed in claim 1 , wherein the higher-level motion controller comprises one or more processors, and one or more tangible memories including computer program code, which, when loaded into the one or more processors and executed by the one or more processors, causes the higher-level motion controller to determine and input to the lower-level thrust allocation controller both the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel.
7 . The motion control system as claimed in claim 1 , wherein the lower-level thrust allocation controller comprises one or more processors, and one or more tangible memories including computer program code, which, when loaded into the one or more processors and executed by the one or more processors, causes the lower-level motion controller to generate control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the plurality of individual thrusters, and to take the desired future generalized forces into account in generation of the control signals for the current instant of time.
8 . A non-transitory computer-readable tangible medium comprising computer program code, which, when loaded into a higher-level motion controller, causes the higher-level motion controller to determine and input to a lower-level thrust allocation controller both a desired generalized force both for a current instant of time and a desired future generalized force to be exerted on a marine vessel over a prediction horizon.
9 . A non-transitory computer-readable tangible medium comprising the computer program code which, when loaded into a lower-level thrust allocation controller causes the controller to generate control signals to a plurality of individual thrusters available in a thruster system to distribute a desired generalized force into individual forces of a plurality of individual thrusters, and to take the desired future generalized forces into account in generation of the control signals for the current instant of time.
10 . A marine vessel, comprising a motion control system that further includes:
a higher-level motion controller and a lower-level thrust allocation controller for controlling motion of a marine vessel, the higher-level motion controller being decoupled from the lower-level thrust allocation controller to allow a modular design,
wherein the higher-level motion controller is configured to determine desired generalized forces to be exerted on the marine vessel by a thruster system to achieve a desired motion of the marine vessel, and to input the desired generalized forces to the lower-level thrust allocation controller,
wherein the lower-level thrust allocation controller is configured to generate, based on the desired generalized forces, control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the plurality of individual thrusters, at least one of the plurality of individual thrusters being a rotatable or azimuthing thruster, and the control signals of the at least one rotatable or azimuthing thruster controlling at least a thruster orientation and a generated thrust,
wherein the higher-level motion controller is configured to determine and input to the lower-level thrust allocation controller both the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel, and
wherein the lower-level thrust allocation controller is configured to take the desired future generalized forces into account in generation of the control signals to the plurality of individual thrusters for the current instant of time.
11 . A motion control system, comprising:
a higher-level motion controller and a lower-level thrust allocation controller for controlling motion of a marine vessel, the higher-level motion controller being decoupled from the lower-level thrust allocation controller to allow a modular design,
wherein the higher-level motion controller includes one or more processors, and one or more tangible memories including computer program code, which, when loaded into the one or more processors and executed by the one or more processors, causes the higher-level motion controller to
determine desired generalized forces to be exerted on the marine vessel by a thruster system for the current instant of time and desired future generalized forces to be exerted on the marine vessel to achieve a desired motion of the marine vessel,
input to the lower-level thrust allocation controller both the desired generalized forces and the desired future generalized forces,
wherein the lower-level thrust allocation controller includes one or more processors, and one or more tangible memories including computer program code, which, when loaded into the one or more processors and executed by the one or more processors, causes the lower-level motion controller to
generate, based on the desired generalized forces, control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalize forces into individual forces of the plurality of individual thrusters, at least one of the plurality of individual thrusters being a rotatable or azimuthing thruster, and the control signals of the at least one rotatable or azimuthing thruster controlling at least a thruster orientation and a generated thrust,
take the desired future generalized forces into account in generation of the control signals to the plurality of individual thrusters for the current instant of time.
12 . The motion control system as claimed in claim 11 , wherein:
the lower-level thrust allocation controller is configured to receive the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel from the high-level motion controller,
the lower-level thrust allocation controller is configured to receive allocation parameters from the high-level motion controller or an allocation parameter calculation unit, and
the lower-level thrust allocation controller is configured to take the desired future generalized forces, and the allocation parameters, into account in generation of the control signals for the current instant of time.
13 . The motion control system as claimed in claim 11 , wherein the lower-level thrust allocation controller comprises predictive control that is configured to predict future control inputs and/or future constraints based on the desired future generalized forces, and further configured to use the predicted future control inputs and/or predicted future constraints in generation of the control signals for the current instant of time.
14 . The motion control system as claimed in claim 11 , wherein the lower-level thrust allocation controller is configured to vary constraints of generation of the control inputs over the prediction horizon depending on one or more of: time, the predicted future generalized force, the predicted future generalized velocity of the marine vessel, the predicted future generalized position of the marine vessel, and the allocation parameters.
15 . The motion control system as claimed in claim 11 , wherein the lower-level thrust allocation controller is configured to estimate and use at least a propulsion force of the at least one rotatable or azimuthing thruster in generation of the control inputs.
16 . A motion control system, comprising
a higher-level motion controller and a lower-level thrust allocation controller for controlling motion of a marine vessel,
wherein the higher-level motion controller is configured to determine desired generalized forces to be exerted on the marine vessel by a thruster system to achieve a desired motion of the marine vessel, and to input the desired generalized forces to the lower-level thrust allocation controller,
wherein the lower-level thrust allocation controller is configured to generate, based on the desired generalized forces, control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the plurality of individual thrusters, at least one of the plurality of individual thrusters being a rotatable or azimuthing thruster, and the control signals of the at least one rotatable or azimuthing thruster controlling at least a thruster orientation and a generated thrust,
wherein the higher-level motion controller is configured to determine and input to the lower-level thrust allocation controller both the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel, and
wherein the lower-level thrust allocation controller comprises predictive control that is configured to predict future control inputs and/or future constraints based on the desired future generalized forces and further configured to use the predicted future control inputs and/or predicted future constraints in generation of the control signals for the current instant of time.
17 . The motion control system as claimed in claim 16 ,
wherein the higher-level motion controller is further configured to determine and input to the lower-level thrust allocation controller one or more further reference predictions or allocation parameters, and
wherein the lower-level thrust allocation controller is configured to take also the one or more further reference predictions or allocation parameters into account in generation of the control signals for the current instant of time.
18 . The motion control system as claimed in claim 16 , wherein the predictive control is a Model Predictive Control (MPC).
19 . A motion control system, comprising
a higher-level motion controller and a lower-level thrust allocation controller for controlling motion of a marine vessel,
wherein the higher-level motion controller is configured to determine desired generalized forces to be exerted on the marine vessel by a thruster system to achieve a desired motion of the marine vessel, and to input the desired generalized forces to the lower-level thrust allocation controller,
wherein the lower-level thrust allocation controller is configured to generate, based on the desired generalized forces, control signals to a plurality of individual thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the plurality of individual thrusters, at least one of the plurality of individual thrusters being a rotatable or azimuthing thruster, and the control signals of the at least one rotatable or azimuthing thruster controlling at least a thruster orientation and a generated thrust,
wherein the higher-level motion controller is configured to determine and input to the lower-level thrust allocation controller both the desired generalized forces both for the current instant of time and the desired future generalized forces to be exerted on the marine vessel, and
wherein the lower-level thrust allocation controller is configured to vary constraints of generation of the control inputs over the prediction horizon depending on one or more of: time, the predicted future generalized force, the predicted future generalized velocity of the marine vessel, the predicted future generalized position of the marine vessel, and allocation parameters.
20 . The motion control system as claimed in claim 1 ,
wherein the higher-level motion controller is further configured to determine and input to the lower-level thrust allocation controller one or more further reference predictions or allocation parameters, and
wherein the lower-level thrust allocation controller is configured to take also the one or more further reference predictions or allocation parameters into account in generation of the control signals for the current instant of time.