Ship dynamic positioning control method

A dynamic positioning and control method technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as difficulty in meeting actual production needs, poor dynamic positioning accuracy, etc., achieve low requirements, high positioning accuracy, good control effect

Active Publication Date: 2014-02-19
CHINA COMMUNICATIONS CONSTRUCTION +3
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Problems solved by technology

[0006] Because the dynamic characteristics of ships at sea have the characteristics of strong coupling, nonlinearity, large time delay and large inertia, the existing ship dynamic posit

Method used

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  • Ship dynamic positioning control method

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Embodiment 1

[0034] A kind of ship dynamic positioning control method, it is characterized in that: dynamic positioning control method comprises the following steps

[0035] (1) Establish a support vector machine prediction model: carry out model identification on the dynamic motion model of the ship, and establish a support vector machine prediction model;

[0036] (2) Expected position and attitude given predictive control: take the expected position and attitude as the three given directions of surge, sway and yaw of the ship dynamic positioning system, and embed three support vector machine prediction models into three The generalized predictive controller is used as the predictive model of the three generalized predictive controllers, and the three references are respectively input into the three generalized predictive controllers to control the surge, sway and yaw motions respectively;

[0037] (3) Predictive control positioning: Three generalized predictive controllers apply the thr...

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Abstract

The invention belongs to the technical field of ship engineering and relates to a ship dynamic positioning control method. The ship dynamic positioning control method comprises the following steps that model identification is conducted on a ship dynamic movement model, and a support vector machine predicting model is established; surging, swaying and yawing directions of a ship power positioning system are preset according to expected positions and postures, the support vector machine predicting model is embedded into a general predict controller, and the surging, swaying and yawing movements are respectively controlled; the general predict controller applies three torques in the surging, swaying and yawing directions to the ship dynamic movement model through a thrust distribution module and feeds back surging and swaying displacement and a yawing angle, and a closed-loop feedback control system is formed to control the ship power positioning system. The ship dynamic positioning control method has the advantages of multiple steps of predicting, rolling optimization and feedback compensation mechanisms, a good control effect on a ship, high positioning precision and the like. In addition, the ship dynamic positioning control method can be automatically applied to ship loading, sea condition variation and the like.

Description

technical field [0001] The invention belongs to the technical field of ship engineering, in particular to a ship dynamic positioning control method. Background technique [0002] At present, the dynamic positioning system (Dynamic Positioning System, hereinafter referred to as DPS) refers to the use of its own propulsion device to effectively generate reaction force and reaction moment to resist the environmental external force and moment acting on the ship by wind, current and waves without the help of mooring system. , a system that maintains a ship at a given position, or enables a ship to precisely track a given trajectory. [0003] Support Vector Machine (Support Vector Machine, hereinafter referred to as SVM) is a kind of neural network based on statistical theory and based on the principle of structural risk minimization. SVM first fixes the empirical risk, then minimizes the confidence risk, maps the input space to a high-dimensional inner product space, and obtains...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 田俊峰丁树友顾明袁伟俞孟蕻李军戴群王健刘长云杨立楠
Owner CHINA COMMUNICATIONS CONSTRUCTION
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