Prediction control algorithm based on motion linear model and area performance index

A predictive control algorithm and linear model technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as falling into local optimum and long solution time

Active Publication Date: 2017-02-22
SHANGHAI ZHENHUA HEAVY IND GRP NANTONG TRANSMISSION MACHINERY
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Problems solved by technology

Due to the complexity of ship motion, the application of nonlinear model predictive control often involves complex nonlinear equation optimization problems, which may lead to too long solution time and the disadvantage of falling into local optimum

Method used

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  • Prediction control algorithm based on motion linear model and area performance index
  • Prediction control algorithm based on motion linear model and area performance index
  • Prediction control algorithm based on motion linear model and area performance index

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Embodiment Construction

[0094] 1) Linearization assumptions, the present invention is based on the following four linearization assumptions.

[0095] Assumption 1: Based on the fact that the ship is moving at a low speed under dynamic positioning conditions, the influence of the Coriolis force is ignored;

[0096] Hypothesis 2: Assume that the ship's viscous hydrodynamic force is proportional to the ship's speed;

[0097] Hypothesis 3: In view of the slow bow movement of the ship, the coupling effect of the bow movement on the position movement within the prediction time is ignored, that is, the following ship motion equation is considered. The rotation matrix in is kept constant in the prediction steps taken;

[0098] Hypothesis 4: Assuming that the ship is equipped with sufficient position and heading sensors, and the ship’s position and heading are considerable, the unscented Kalman filter method [4] is used to obtain the low-frequency position and heading of the ship during the simulation calcul...

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Abstract

The invention relates to a prediction control algorithm based on a motion linear model and an area performance index. The prediction control algorithm comprises 1) linearization hypothesis; 2) a ship motion equation in an increment form; 3) the area performance index; 4) a prediction equation; 5) a constraint condition: 4) equation solution. The prediction control algorithm is advantageous in that the algorithm provided by the invention is a linear method, and the solution is simpler by comparing with a non-linear prediction control algorithm, and a result is reliable; the solution is simple, and calculation time is short, and therefore the prediction control algorithm is more suitable for a field having a high requirement on real-time performance like ship control; based on the area performance index, the prediction control algorithm meets a current green control concept, and therefore wear of a propeller is effectively prevented, and energy consumption is reduced.

Description

technical field [0001] The invention relates to the field of dynamic positioning control, in particular to a predictive control algorithm based on a motion linear model and an area performance index. Background technique [0002] The dynamic positioning system refers to the power system equipped by the ship's automatic control algorithm controller, such as paddles and rudders, to resist external forces such as wind and waves, so that the ship maintains a certain position and angle or moves according to a predetermined trajectory. . The general dynamic positioning system includes operating system, position and heading reference system, dynamic positioning control system, power system and other subsystems, among which the dynamic positioning control system is its key subsystem, responsible for such as sensor signal processing, path planning, ship motion control and thrust distribution. [0003] The ship motion control algorithm roughly experienced three stages of development...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谌栋梁谢颖黄彦文陈杰宇秦一飞王晓飞王一强
Owner SHANGHAI ZHENHUA HEAVY IND GRP NANTONG TRANSMISSION MACHINERY
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