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Thrust distribution method based on combination of particle swarm and sequential quadratic programming

A technology of sequence quadratic programming and thrust distribution, applied in two-dimensional position/course control, instrument, control/adjustment system, etc., can solve problems such as large initial value and no optimal solution for initial value, etc., to achieve convenient Adjustment, high precision of optimization, and high precision of algorithm optimization

Active Publication Date: 2018-11-20
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

However, the sequence quadratic programming algorithm relies heavily on the initial value, and improper selection of the initial value may cause the phenomenon that the optimal solution cannot be found.

Method used

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  • Thrust distribution method based on combination of particle swarm and sequential quadratic programming
  • Thrust distribution method based on combination of particle swarm and sequential quadratic programming
  • Thrust distribution method based on combination of particle swarm and sequential quadratic programming

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Embodiment Construction

[0043] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0044] A thrust allocation method based on the combination of particle swarm and sequential quadratic programming, such as figure 1 shown, including the following steps:

[0045] Step 1. The thrust distribution unit obtains the current three-axis command τ of the controller from the controller, specifically including longitudinal force X, lateral force Y and yaw moment N, that is, τ=(X, Y, N) T ;

[0046] Step 2. Establish a dynamic positioning system thrust distribution model, whose mathematical description is:

[0047] τ=(X,Y,N) T =B(α)T

[0048] Among them, T=(T 1 , T 2 …T n ) T , represents the thrust of n propellers;

[0049] α=(α 1 ,α 2 …α n ), represents the azimuth angles of n propellers;

[0050]

[0051] (l xi , l yi ) represents the position of the i-th propeller relative to the center of rotation of the ship;

[0052]...

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Abstract

The invention relates to a thrust distribution method based on combination of a particle swarm and sequential quadratic programming. The method is characterized by comprising steps that S1, current controller three-axis instructions are obtained by a thrust distribution unit from a controller, including longitudinal force, lateral force and yawing moment; S2, a thrust distribution model of a dynamic positioning system is established; S3, a target function and constraint conditions of a thrust distribution problem are established; and S4, an optimization searching method combining the particleswarm and sequential quadratic programming is applied to solve the thrust distribution problem. The method is advantaged in that on the basis of fully considering advantages and disadvantages of the particle swarm algorithm and the sequence quadratic programming algorithm, the two are combined, the disadvantages of the two can be effectively compensated, global optimization searching performance of the algorithm is greatly improved, the thrust distribution problem of the dynamic positioning system can be quickly and effectively solved, and the method has a high practical value.

Description

technical field [0001] The invention belongs to the technical field of ship dynamic positioning, and relates to a thrust distribution method of a ship dynamic positioning system, in particular to a thrust distribution method based on the combination of particle swarm and sequence quadratic programming. Background technique [0002] With the continuous development of the ocean by humans, the traditional mooring positioning system has been unable to meet the operational needs of deep sea waters. The dynamic positioning system can use the propeller equipped with the ship itself to resist the interference of the sea environment and maintain the position and heading of the ship. It has the advantages of high positioning accuracy, strong maneuverability, and no limitation of sea depth. It is a deep-sea operation. One of the necessary safeguards for equipment. [0003] The task of thrust distribution of ship dynamic positioning system is to distribute the three-degree-of-freedom c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0208
Inventor 黄炜陈曦杨国文王岭王福徐凯王小东李健林
Owner TIANJIN NAVIGATION INSTR RES INST
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