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A Ship Dynamic Positioning Method Based on Improved Strong Tracking Filter State Observer

A state observer, strong tracking filtering technology, applied in instruments, non-electric variable control, speed/acceleration control, etc., can solve the problems of reducing the service life of the propeller and increasing the wear of the propeller of the dynamic positioning system.

Active Publication Date: 2018-04-17
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Among these disturbances, wind, low-frequency second-order waves, and currents will cause the ship to drift slowly, which can be compensated and offset by dynamic positioning propellers; high-frequency first-order waves and noise interference will not cause changes in the position of the ship, but It will cause irregular oscillating motion, increase the wear of the propeller of the dynamic positioning system, thereby reducing the service life of the propeller

Method used

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  • A Ship Dynamic Positioning Method Based on Improved Strong Tracking Filter State Observer
  • A Ship Dynamic Positioning Method Based on Improved Strong Tracking Filter State Observer
  • A Ship Dynamic Positioning Method Based on Improved Strong Tracking Filter State Observer

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Embodiment Construction

[0057] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0058] attached figure 1 It is the motion control flow chart of the ship using the state observer based on the improved strong tracking filter method, and describes the processing process of the ship motion controller.

[0059] The purpose of the present invention is achieved as follows:

[0060] Step 1: In the case of environmental interference, the position and heading information of the dynamic positioning ship is collected through the sensor system. Through these position and heading information, the dynamics and kinematics process of ship motion can be abstracted, and the kinematics mathematical model of dynamic positioning ship is:

[0061]

[0062]

[0063] z=η+ω z

[0064] where, η=[x y ψ] T Indicates the position and attitude angle of the ship in the northeast coordinate system; ν=[u v r] T Indicates the linear velocity and angular veloci...

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Abstract

The invention discloses a ship dynamic positioning method based on an improved strong tracking filter state observer, comprising the following steps: collecting the position and heading of the ship; using the improved strong tracking filter state observer to filter out the noise in the ship position and heading In the first part, the estimated value of ship position and heading that meets the accuracy requirements is sent to the PID controller; the PID controller outputs control force and torque according to the expected value of ship position and heading and the received information to control the motion of the ship. The present invention has better effect of tracking and filtering in the case of sudden changes in external interference, and the present invention can improve the stability of the ship.

Description

technical field [0001] The invention belongs to the field of dynamic positioning ship control, and in particular relates to a ship dynamic positioning method based on an improved strong tracking filter state observer for sudden changes in the external environment. Background technique [0002] Fully exploring and researching the ocean and carrying out reasonable and effective resource exploitation play an inestimable role in the development of human society. As the exploitation of marine resources continues to advance to the deep sea, some offshore operating platforms, such as floating production and storage tankers, offshore drilling platforms, etc., can still complete oil and gas exploration, pipe laying and cable laying, marine geological exploration, etc., but comprehensive consideration The effects are not ideal. In this context, the ship dynamic positioning system (Dynamic Positioning System, referred to as DPS) came into being. In recent years, the dynamic positioni...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D13/04
Inventor 王元慧庹玉龙付明玉丁福光王海英赵强张赞杨云龙迟岑刘佳
Owner HARBIN ENG UNIV