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Dynamic positioning ship wave frequency model parameter estimating system based on moving horizon estimation

A technology of rolling time-domain estimation and wave-frequency model, which is applied in general control systems, control/regulation systems, two-dimensional position/course control, etc., can solve problems such as limited accuracy, and achieve the effect of improving accuracy and improving accuracy

Inactive Publication Date: 2016-08-17
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem of limited precision existing in the existing wave filtering process by using band-pass filtering

Method used

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  • Dynamic positioning ship wave frequency model parameter estimating system based on moving horizon estimation
  • Dynamic positioning ship wave frequency model parameter estimating system based on moving horizon estimation
  • Dynamic positioning ship wave frequency model parameter estimating system based on moving horizon estimation

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specific Embodiment approach 1

[0021] The parameters of the model update logic system 3 in the ship dynamic positioning control system 1 need to be estimated by the wave frequency model parameter estimation system 2, and then the obtained wave frequency model parameters are returned to the model update system 11 of the ship dynamic positioning control system 1 to complete the wave frequency model parameter estimation system 2. The update function of the model. The wave frequency model parameter estimation system 2 of the present invention is a dynamic positioning ship wave frequency model parameter estimation system based on rolling time domain estimation. The schematic diagram of parameter estimation of wave-frequency model of dynamic positioning ship is as follows: figure 1 shown.

[0022] A parameter estimation system for dynamic positioning ship wave frequency model based on rolling time domain estimation, including:

[0023] Wave-frequency model parameter estimation function start module 4, time wind...

specific Embodiment approach 2

[0033] When the wave-frequency model parameter estimation function activation module 4 in this embodiment performs data initialization, the length of the time window is determined as 500 seconds and the content recorded in the database is called.

[0034] Other modules and parameters are the same as those in the first embodiment.

specific Embodiment approach 3

[0035] The dominant frequency estimator 7 described in this embodiment determines the estimated dominant frequency based on a fuzzy algorithm.

[0036] Other modules and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

A dynamic positioning ship wave frequency model parameter estimating system based on moving horizon estimation relates to the ship dynamic positioning field, specifically to a dynamic positioning ship wave frequency model parameter estimating system which solves the problem that in the prior art, the precision is undesirable when bandpass filtering is employed in an ocean wave filtering process. The dynamic positioning ship wave frequency model parameter estimating system comprises a wave frequency model parameter estimating function starting module, a time window extraction module, a measurement information sequence extraction module, a dominant frequency predictor, a high pass filter, a moving horizon estimator and a model parameter estimation ending module, wherein the dominant frequency predictor obtains dynamic positioning ship position and heading measurement information and conducts rapid Fourier transform to obtain a spectral curve and determine initial wave frequency model parameters, the high pass filter filters the measurement information to estimate wave frequency motion component, and the moving horizon estimator estimates the wave frequency model parameters and wave frequency motion. The dynamic positioning ship wave frequency model parameter estimating system is applicable to dynamic positioning ship wave frequency model parameter estimation.

Description

technical field [0001] The invention relates to the field of ship dynamic positioning, in particular to a dynamic positioning ship wave-frequency model parameter estimation system. Background technique [0002] With the development of technology, the scope of people's activities has gradually expanded from the coast and offshore to the deep sea. All marine projects require the protection and support of ships equipped with dynamic positioning. The dynamic positioning system uses thrusters to provide resistance to wind, waves, currents and other environmental forces acting on the ship, so that the ship can be kept at the required position on the sea level as much as possible. As the development of offshore oil and gas resources continues to expand into the deep sea, the traditional mooring positioning method is gradually being replaced by dynamic positioning, and positioning based on the power of marine structures has become the main choice for deep-sea oil and gas production...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/04G05D1/0208
Inventor 夏国清刘菊陈兴华刘建旭绍兴超
Owner HARBIN ENG UNIV
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