Ship dynamic positioning control method

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...

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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 positioning system does not integrate the above technologies, and there are technologies such as poor dynamic positioning accuracy and difficulty in meeting actual production needs. question

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