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Self-adaptive optimization method for ship thrust distribution considering input and terminal constraints

A terminal constraint and thrust distribution technology, applied in adaptive control, instruments, control/regulation systems, etc., can solve problems that are difficult to solve, cannot meet actual needs, and complex problems, and achieve the effect of reducing thrust errors

Inactive Publication Date: 2018-07-27
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0004] The existing ship thrust allocation algorithm either only considers unconstrained optimization, which cannot meet the actual needs; or considers the optimization, which makes the problem very complicated and difficult to solve

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  • Self-adaptive optimization method for ship thrust distribution considering input and terminal constraints
  • Self-adaptive optimization method for ship thrust distribution considering input and terminal constraints
  • Self-adaptive optimization method for ship thrust distribution considering input and terminal constraints

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Embodiment Construction

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0014] An adaptive optimization method for ship thrust allocation considering input and terminal constraints, comprising the following steps:

[0015] Firstly, a discrete nonlinear optimal control model with input saturation and terminal constraints is established;

[0016] Then the construction of the HJB equation of this kind of constraint model and the solution method based on adaptive dynamic programming are proposed;

[0017] Finally, the training an...

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Abstract

The invention relates to a self-adaptive optimization method for ship thrust distribution considering input and terminal constraints. The method comprises the steps that firstly a discrete nonlinear optimal control model with input saturation and terminal constraints is established; then the construction of an HJB equation of the constraint model and a solution method based on self-adaptive dynamic programming are proposed; finally the training of a neural network in the self-adaptive dynamic programming model and solution procedures are given to obtain terminal constraint conditions. Comparedwith the prior art, the method has the advantages of being capable of significantly reducing thrust error in the state adjustment process of a thruster and the like.

Description

technical field [0001] The invention relates to the technical field of ship automatic control, in particular to an adaptive optimization method for ship thrust distribution considering input and terminal constraints. Background technique [0002] With the development of the world economy, the shortage of various mineral resources, biological resources and fossil energy has become increasingly acute. People's demand for the development and exploration of marine resources has become increasingly obvious, and the scope of activities has also expanded from coastal and offshore to deeper sea areas. Deep sea resources The demand for the development of ship dynamic positioning technology is more and more urgent. [0003] The ship's dynamic positioning system adopts overdrive configuration, redundant azimuth thrusters and side thrusters and other new equipment not only increase the reliability and maneuverability of the thrust system, but also increase the number of controllable var...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙志坚林淑怡张卫东赵亚东衣博文谢少荣
Owner SHANGHAI JIAO TONG UNIV
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