Ship positioning control method based on progressive guidance

Abstract

The invention belongs to the field of dynamic positioning ship control and particularly relates to a ship positioning control method based on progressive guidance. The ship positioning control method comprises the following steps: (1) determining the target heading and the target position of a ship; (2) calculating real-time expected positions and the heading; (3) calculating required longitudinal force, lateral force, moment required during bow rotating, a north position deflection, an east position deflection and a bow direction deflection according to the current north position, the current east position, the current heading, a target north position, a target east position, a target heading, the longitudinal instantaneous speed of the ship, the lateral instantaneous speed of the ship, clockwise rotating rate, and longitudinal force, lateral force and moment which are generated by ambient disturbance. The positioning control method is designed based on progressive guidance and control. The moment and thrust which are obtained by the method gradually vary and can be ensured within the limit range of a propeller, so that the ship can stably arrive in the target position without oscillation, and the positioning precision is higher.

Description

technical field [0001] The invention belongs to the field of dynamic positioning ship control, in particular to a ship positioning control method based on asymptotic guidance. Background technique [0002] With the continuous development of marine industry from shallow sea to deep sea, higher requirements are put forward for the safety of ships during operation. The dynamic positioning technology has become a support system for ships operating in deep sea. Its main feature is that the dynamic positioning ship mainly uses the ship's own propulsion device to automatically realize the corresponding positioning and tracking functions. [0003] In the actual operation of dynamic positioning ships, it is often required that the ship needs to achieve fixed-point positioning at a specified position and keep it at the specified heading. In addition, the ship's tracking, positioning rotation, target tracking and other working modes need to be realized by the ship's high-precision fix...

AI Technical Summary

Problems solved by technology

[0004] At present, there are many researches on ship control methods at home and abroad. Such research results mainly focus on the application of advanced control methods to design ship positioning or tracking controllers. In practical applications, the thrust of a ship depends on the propellers installed on the ship. Performance, the given thrust is often limited, and the inertia of the ship is particularly large, so the thrust given by the thruster must be appropriate when positioning the fixed point, otherwise, the ship will vibrate and it is difficult to control, which is the most dangerous in engineering applications of

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