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

Inactive Publication Date: 2018-09-28
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Pseudo-inverse algorithm is simple and reliable, but it is difficult to apply because the model is too simple under the gradually complex thrust distribution requirements
The SQP method is flexible and has a wide range of applications. However, as a single-step optimization algorithm, the variable feasible region for each optimization is very limited, and the long-term optimization of the propeller state is ignored, which may cause the propeller state to fall into a suboptimal solution and reduce energy consumption efficiency. and mobility

Method used

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  • Intelligent optimization method for ship dynamic positioning thrust distribution
  • Intelligent optimization method for ship dynamic positioning thrust distribution
  • Intelligent optimization method for ship dynamic positioning thrust distribution

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Embodiment 1

[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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Abstract

The invention relates to an intelligent optimization method for ship dynamic positioning thrust distribution. The method comprises steps that S1, the layout of a ship propulsion unit is determined, parameters of each thruster are loaded, and the parameters of the thruster include the variable range of the thruster thrust direction, the variable range of the thrust magnitude, the change rate rangeof the thrust direction and the change rate range of the thrust magnitude; S2, change rate restriction of a thruster state vector is acquired according to the parameters of each thruster and a presentstate, after a target control instruction is received, a multi-step optimization problem model is established; S3, a global optimal solution of a state of the thruster in the long-term change range is acquired through the genetic algorithm; and S4, an optimal multi-step decision sequence for driving the thruster is acquired, and distribution decisions are outputted. Compared with the prior art, problems of slow convergence and rapid degradation of population diversity of the genetic algorithm are solved.

Description

technical field [0001] The invention relates to the technical field of ship automatic control. , especially relates to an intelligent optimization method for ship dynamic positioning thrust distribution. Background technique [0002] Most of my country's marine energy and resources are distributed in the deep sea area. Taking oil resources as an example, the oil and gas resources in the South China Sea account for about 1 / 3 of my country's total oil and gas resources. For deep-sea ships (including various types of floating bodies), the traditional mooring positioning method has great limitations in many applications. In order to solve this problem, dynamic positioning technology was developed. Dynamic positioning technology can ensure that the ship uses its own power to maintain the desired position and attitude under the disturbance of wind, waves and currents. This technology is an indispensable key technology for deep-sea energy and resource exploitation, and is widel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 衣博文张卫东张国庆赵亚东林淑怡蒲华燕
Owner SHANGHAI JIAO TONG UNIV
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