Self-adaption filtering method tracking environmental force sudden change in dynamic positioning

A technology of adaptive filtering and dynamic positioning, applied in the direction of digital adaptive filter, adaptive network, non-electric variable control, etc., can solve the problems of ship position deviation, poor ability to track the sudden change of state value, etc., to reduce the deviation. Effect

Inactive Publication Date: 2016-07-27
WUHAN UNIV OF TECH +1
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Problems solved by technology

[0004] Although the filtering algorithm can estimate parameters such as position, velocity, and environmental force, the ability to track sudden changes in state values ​​is poor.
If

Method used

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  • Self-adaption filtering method tracking environmental force sudden change in dynamic positioning
  • Self-adaption filtering method tracking environmental force sudden change in dynamic positioning
  • Self-adaption filtering method tracking environmental force sudden change in dynamic positioning

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Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] In this embodiment, an adaptive filtering method for tracking sudden changes in environmental forces is proposed by combining the unscented Kalman filtering algorithm as an example. The process flow of the adaptive filtering method for tracking environmental force mutations combined with unscented Kalman filtering is as follows: figure 1 As shown, the specific implementation steps are as follows:

[0035] S100. Establish the system model of the ship as follows:

[0036] ξ · = A w ξ + E w ω w

[0037] η · = R ( ψ ) v

[0038] ...

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Abstract

The invention relates to a self-adaption filtering method tracking environmental forces sudden change in dynamic positioning. The method includes steps of establishing a state space model of a ship system; using traceless Kalman filtering for estimating a state in the current moment; judging whether the environmental force in the current moment meets sudden change or not according to a judgment condition; performing self-adaption adjustment on posterior mean square error of the current moment if the judgment condition is met, which means environmental force sudden change occurs; judging positioning is completed or not; if the positioning is not finished, sending a thrust command of the next moment by a control system according to a position and the environmental force estimated by the self-adaption filtering so as to enable a ship to reach a positioning point and to hold at the positioning point; if the positioning is finished, finishing the whole cycle. According to the invention, environmental force sudden change can be judged and estimated value convergence to a real value can be realized quickly by modifying a posterior mean square error matrix, so that the controller can generate a thrust for compensating the environmental force and deviation between a real position and a set position can be reduced.

Description

technical field [0001] The invention relates to ship dynamic positioning, in particular to an adaptive filtering method for tracking environmental force mutations in dynamic positioning. Background technique [0002] A ship equipped with a dynamic positioning system uses the thrust from the propulsion system to maintain its own position, has good maneuverability, can quickly enter or leave the working mode, and has high safety. The main function of filtering and state estimation in the dynamic positioning control system is to filter out the high-frequency noise of the measured value, separate the measured value into low-frequency and high-frequency parts, and make the propulsion system only offset slowly changing low-frequency external disturbances as much as possible. In addition, filtering can also estimate parameters such as speed and environmental force that cannot be given by the measurement system. [0003] At present, the most commonly used filtering methods are Kalm...

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Application Information

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IPC IPC(8): G05D1/02H03H21/00
CPCG05D1/0208B63H25/00G05D1/02H03H21/003
Inventor 冯辉徐海祥丁浩晗龙飞
Owner WUHAN UNIV OF TECH
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