Ship dynamic positioning system and design method thereof

Abstract

The invention discloses a ship dynamic positioning system and a design method thereof. The system comprises N ships, N individual controllers and a communication network; the N ships are in one-to-one correspondence with the N individual controllers, and the N ships are respectively in bidirectional connection with the N individual controllers; the output end of the communication network is connected with the N individual controllers, and the input end of the communication network is connected with the N ships; the individual controller comprises a first-level comparison unit, a second-level comparator unit, a virtual controller, a filter, an adaptive unit and a control unit. The invention provides a multi-ship relative dynamic positioning system, which can guarantee that multiple ships can keep set relative positions and jointly track the given position of a virtual navigator. In comparison with the conventional single-ship positioning control system, the ship dynamic positioning system has wider mission area, higher efficiency and improved system performance, and is suitable for being used in a larger-scale ship control system for a larger number of ships.

Description

technical field [0001] The invention relates to ship dynamic positioning technology in the field of ships and ocean engineering, in particular to a ship dynamic positioning system and a design method thereof under time-varying wind, wave and current disturbances. Background technique [0002] Ship dynamic positioning refers to the use of the propulsion device of the ship itself to keep the ship at a certain target position on the sea surface with a certain attitude or accurately track a given trajectory under continuous disturbances such as wind waves and currents, so as to complete various tasks. homework tasks. It has the advantages of high control precision, good flexibility, and the cost will not increase with the increase of water depth, so it is widely used on various ships such as offshore oil drilling platforms, salvage ships, engineering supply ships, and fire boats. The key to the normal operation of marine floating operating platforms and ships. [0003] The dev...

AI Technical Summary

Problems solved by technology

[0004] However, the above control methods are all aimed at the dynamic positioning technology of a single ship. With the continuous expansion of ocean development to the open sea and deep sea, the dynamic positioning technology of a single ship can no longer meet the needs of actual ocean operations, and more and more occasions require multiple ships to cooperate. Dynamic positioning for more complex tasks

The limitations of the existing single-ship dynamic positioning system are mainly reflected in the following two aspects: First, the individual control of individual ships by the controller will greatly restrict the realization of the overall function, and the accuracy of the relative position between individual ships cannot be guaranteed. The lack of information exchange between ships can easily lead to defects such as scattered control information and poor overall system coordination

The second is that it belongs to centralized control in terms of control structure, which is characterized by the fact that the controller needs to grasp all the information of the whole and implement individual control on the individual. This control structure will be restricted by physical conditions such as limited network bandwidth and limited perception ability in practical applications. , especially when the number of control objects is large and the scale is large, it is easy to cause the controller algorithm to be complicated and the amount of information to be large, which increases the difficulty of engineering implementation

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