Dynamic positioning control method based on ukf filter and constraint model predictive control

Abstract

The invention provides a dynamic positioning control method based on UKF filter and constraint model predictive control, the method includes: acquiring the position and course information of the ship through a sensor; receiving the measurement information by a UKF filter, and filtering out noise interference and waves therein High-frequency oscillation components, while performing state estimation on the unmeasured state; the model predictive controller receives the low-frequency state estimation value of the UKF filter as the initial condition for predicting future dynamics, considers the system thruster constraints and operating area constraints online, and optimizes the objective function Optimal solution, generate the optimal control command and send it to the controlled ship, so as to control the ship to maintain the set ship position and course. The method can avoid the frequent action of the thruster, reduce the wear and energy consumption of the thruster, and at the same time improve the control effect and stability of the model predictive control, which has strong engineering application value.

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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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 Benjie. Predictive control of ship dynamic positioning model based on state estimator. Journal of Dalian Maritime University, 2015, 41(3): 24-28) considered the estimation of unmeasurable state , but without considering the filter design, the noise in the measurement signal and the existence of high-frequency motion of the ship will make the thruster move frequently and cause unnecessary energy consumption and wear

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