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Multi-point mooring cooperative adaptive iterative learning control method

An adaptive iterative, multi-point mooring technology, applied in the field of multi-point mooring cooperative adaptive iterative learning control, can solve the problems of complex algorithm and limited positioning effect, achieve low implementation complexity, improve static accuracy, and improve dynamic rapidity effect

Active Publication Date: 2018-08-28
SHANGHAI FUYOU MARINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing various control algorithms generally have problems such as limited positioning effect and complex algorithms

Method used

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  • Multi-point mooring cooperative adaptive iterative learning control method
  • Multi-point mooring cooperative adaptive iterative learning control method
  • Multi-point mooring cooperative adaptive iterative learning control method

Examples

Experimental program
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Embodiment

[0120] Such as figure 1 and figure 2 Shown: Before the platform reaches the well position, another ship responsible for measuring the ship’s position should place the well position mark, heading mark and anchor position mark according to the bow direction of the platform. If the wind blows from the right front of the platform, the platform will enter the well position. After the field, in the direction of the anchor chain of the No. 1 anchor, the No. 1 anchor was dropped as a temporary anchor, and then the No. 2, No. 4 and No. 8 anchors were dropped at the specified anchor positions by the workboat in sequence. Then lift the No. 1 anchor, move the No. 1 anchor to the specified anchor position and drop it. Use the working boat to cast No. 5, No. 3, No. 6 and No. 7 anchors at the specified anchor positions in turn. After all the anchors are dropped, the working boat leaves the platform for a grip test, and then the platform is ballasted to the working draft (20 meters), and t...

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Abstract

The invention provides a multi-point mooring cooperative adaptive iterative learning control method. The method includes the following steps that: system initialization is carried out, design parameters and process variable parameters are obtained; the design parameters and the process variable parameters are substituted into a multi-point mooring system dynamic model; whether position tracking error satisfies a requirement is judged; and if the position tracking error does not satisfy the requirement, adaptive iterative learning open / closed-loop control laws are learned until the position tracking error satisfies the requirement, and iterative circulation is continuously carried out, so that a multi-point mooring system moves according to mooring ideal trajectories. According to the multi-point mooring cooperative adaptive iterative learning control method provided by the invention, the multi-point mooring cooperative control system adopts open / closed-loop iterative learning control,and therefore, the system has load feedforward and real-time feedback performance, the dynamic rapidity and static precision of the system can be improved, the stability of the system is high, the precise positioning of the multi-point mooring system can be realized, and the implementation complexity of the algorithm is low.

Description

technical field [0001] The invention belongs to the technical field of ships and ocean engineering, and in particular relates to a multi-point mooring cooperative adaptive iterative learning control method. Background technique [0002] Floating offshore platforms include floating drilling ships and semi-submersible platforms, which are suitable for the environment of offshore drilling areas, are safe and low in cost, and meet the three conditions required for various operations such as drilling, oil production and testing. Floating ocean platforms are extremely sensitive to wind, waves and currents, have poor stability, and have a high rate of forced shutdowns. Therefore, floating ocean (ship) platforms need a positioning system. [0003] The multi-point mooring system is used in offshore oil and gas development and is widely used for positioning floating offshore platforms. Floating offshore platform positioning measures also include DP dynamic positioning and DP+mooring ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/0265G05B13/042
Inventor 樊成张桂臣
Owner SHANGHAI FUYOU MARINE TECH CO LTD
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