Thrust distribution method for power positioning system of offshore drilling platform

A technology for offshore drilling platforms and dynamic positioning systems, applied to general control systems, control/regulation systems, propulsion components, etc., can solve problems such as large amount of calculation, non-optimal solution, and poor robustness of SQP

Inactive Publication Date: 2012-06-20
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

Due to the large amount of calculation of SQP, once the iteration sequence is interrupted or forced to be interrupted by the time limit of

Method used

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  • Thrust distribution method for power positioning system of offshore drilling platform
  • Thrust distribution method for power positioning system of offshore drilling platform
  • Thrust distribution method for power positioning system of offshore drilling platform

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] figure 1 It is the system structure diagram of the platform dynamic positioning system, mainly including the measurement system, controller and thrust distribution, the position and heading angle of the platform are measured by the observer, and compared with the set value, the filtered position and heading angle The angle deviation e(t) is input to the controller, and the controller generates control instructions through calculation. After the thrust distribution is carried out, the thrust is transmitted to the thruster of the actuator, and the thruster generates corresponding force and moment to resist the external force and moment. , to keep the platform in the required position and heading. The present invention mainly deals with the thrust distribution optimization problem, and converts the control instruction into the thrust instruction transmitted to the...

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Abstract

The invention discloses a thrust distribution method for a power positioning system of an offshore drilling platform, which solves the problem of thrust distribution optimization of the power positioning system by applying a particle swarm algorithm through taking minimized propulsion system power consumption and a thrust error as target functions of the thrust distribution optimization and considering the thrust, thrust change rate, azimuth change rate and constriction conditions of a thrust forbidden sector. The method comprises the following steps of setting input quantity of the thrust distribution, including vertical resultant force, transverse resultant force and yawing moment, as given parameters; setting the thrust amplitude and direction of each thruster as unknown variables, namely, solutions to be optimized; analyzing platform stress, wherein the resultant forces and resultant force moments generated by all the thruster are equal to the input quantity of the thrust distribution; and building a thrust distribution mathematical model according to the distribution of offshore drilling platform thrusters and applying the particle swarm algorithm to solve the problem of thrust distribution optimization. The thrust distribution method has no special requirements to the target functions of the thrust distribution and less parameter to be regulated, is simple in operation, easy for realizing and fast in calculation speed, so that the requirement of high real-time capability of the power positioning system is fulfilled.

Description

technical field [0001] The invention relates to the technical field of control of a dynamic positioning system of ocean engineering equipment, in particular to a method for optimizing thrust distribution of a dynamic positioning system of an ocean drilling platform based on particle swarm optimization. Background technique [0002] Offshore drilling platforms must ensure accurate positioning requirements when operating in various water depths and sea conditions. Traditional anchor chain technology is limited by water depth. However, the dynamic positioning system relies on its own propeller to maintain the position and heading of the platform. It has high positioning accuracy, strong maneuverability, and is not limited by water depth. It is the trend of modern ocean engineering equipment. The dynamic positioning system is mainly composed of three parts: observer, controller and thrust distribution. The observer removes the high-frequency part of the position and heading sign...

Claims

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Application Information

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IPC IPC(8): G05B13/02B63H21/00
Inventor 俞孟蕻袁伟刘鹏陈红卫杨奕飞李兴友李彦
Owner JIANGSU UNIV OF SCI & TECH
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