Intelligent optimization method for ship dynamic positioning thrust distribution
A thrust distribution and dynamic positioning technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of neglecting the long-term optimization of the thruster state, reducing energy consumption efficiency and mobility, and being difficult to apply, and achieving long-term improvement. Energy efficiency and maneuverability, the effect of reducing thrust errors
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[0159] For a dynamic positioning ship, four propulsion devices are installed, and its specific parameters are shown in Table 1.
[0160] Table 1 Thruster related parameters
[0161]
[0162] The system adopts the optimized frequency f=5Hz, and the steering speed of the azimuth propeller is 2RPM(δ α =2.4deg / step), propulsor static to full speed needs Combined thrust / torque command τ d =(20,0,0) T , genetic algorithm population size N=70, maximum population algebra N Pmax =25, optimize stagnation algebra N stall =10, the upper limit of optimization time T limit =100ms, mutation probability P m =0.4, crossover probability P c = 0.6. x(0)=(0,-0.3,0.8,0,1.57,0,2.35) T . The global optimal thruster state given by the improved genetic algorithm is x(N s )=(0,0.5,0.63,0.6,-0.01,0.24,-0.24) T .
[0163] In the case of single-step optimization, the error and power of the given results are as follows Figure 5 and Figure 6 shown. Introducing the self-adaptive dynamic...
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