Dynamic positioning control method based on UKF and constraint model predictive control

A technology of predictive control and dynamic positioning, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of control effect, not considering state estimation, filtering, consumption, etc.

Active Publication Date: 2018-08-24
QINGDAO UNIV OF SCI & TECH
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Problems solved by technology

[0005] Wang Yuanhui et al. (Wang Yuanhui, Shi Xiaocheng, Bian Xinqian. Ship Dynamic Positioning Constrained Control Based on Model Predictive Control. Ship Engineering, 2007,29(3):22-25) did not consider the state estimation when designing the model predictive controller and filtering, the control effect will be affected when the state is not measurable
Wang Gang et al. (Wang Gang, Li Wenhua, Chen Haiquan, Lin Ben...

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  • Dynamic positioning control method based on UKF and constraint model predictive control
  • Dynamic positioning control method based on UKF and constraint model predictive control
  • Dynamic positioning control method based on UKF and constraint model predictive control

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Embodiment Construction

[0070] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0071] A ship dynamic positioning control method based on UKF filtering and constraint model predictive control. UKF is used to estimate the state of the dynamic positioning system and filter design to estimate the unknown state and filter out high-frequency motion components and measurement noise. Only low-frequency The motion component is used as the input of the controller to design a model predictive controller to further improve the stability and reliability of the MPC controller.

[0072] Such as figure 1 Shown, the implementation steps of the present invention are as follows:

[0073] Step 1. Obtain the actual ship position (x, y) and course information Ψ of the ship through the position reference system and the compass sensor, and send it to the UKF filter;

[0074] Step 2. The UKF state estimation filter filters out the noise signal and the h...

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Abstract

The invention provides a dynamic positioning control method based on UKF (Unscented Kalman Filtering) and constraint model predictive control. The method includes the following steps: obtaining the position and course information of a ship through a sensor; receiving the measured information by a UKF filter, filtering noise interference and wave high frequency oscillation components in the information, and carrying out state estimation for unmeasured states; receiving a low frequency state estimated value of the UKF filter by a model predictive controller and taking the low frequency state estimated value as an initial condition for future dynamic prediction, considering system thruster constraint and operating area constraint online, carrying out optimal solving of a target function, generating an optimal control instruction and transmitting the instruction to the controlled ship, thereby controlling the ship to keep the set position and course. The method avoids frequent movements ofa thruster, reduces wearing and energy consumption of the thruster, improves the control effect and stability of model predictive control, and has high engineering utilization values.

Description

technical field [0001] The invention relates to the field of ship dynamic positioning control, in particular to a ship dynamic positioning control method based on UKF filtering and constraint model predictive control. Background technique [0002] Ship dynamic positioning (Dynamic Positioning, DP) is a key technology for deep sea development. The dynamic positioning system has strong adaptability to extremely deep waters and harsh sea conditions, and has strong positioning capabilities, so it is widely used in deep-sea oil drilling platforms, ocean research vessels, semi-submersible vessels, underwater submersibles, marine supply / handling ships, seabed Cable laying, sea salvage and lifesaving, and military ships' fixed point, tracking, line following or tracking control. [0003] The core of the dynamic positioning system is a control system composed of computers, and the key to the control system is the controller. As an intelligent computer control algorithm, model predi...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邓芳杨化林
Owner QINGDAO UNIV OF SCI & TECH
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