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Ship dynamic positioning thrust allocation method based on improved differential evolution algorithm

An evolutionary algorithm and dynamic positioning technology, applied in the direction of two-dimensional position/course control, etc., can solve problems such as ignoring the long-term optimization of the thruster state, reducing energy consumption efficiency and maneuverability, and the state of the thruster falling into a suboptimal solution, etc., to achieve Improve long-term energy consumption efficiency and maneuverability, reduce thrust error, and solve the effect of slow convergence

Active Publication Date: 2019-05-17
HARBIN ENG UNIV
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Problems solved by technology

The single-step optimization method is flexible and has a wide range of applications, but 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, reducing energy consumption efficiency and maneuverability

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  • Ship dynamic positioning thrust allocation method based on improved differential evolution algorithm
  • Ship dynamic positioning thrust allocation method based on improved differential evolution algorithm
  • Ship dynamic positioning thrust allocation method based on improved differential evolution algorithm

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Embodiment 1

[0051] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0052]The traditional thrust allocation optimization mainly uses optimization algorithms such as pseudo-inverse algorithm, sequence quadratic optimization and heuristic. Optimization may cause the propeller state to fall into a suboptimal solution, reducing energy consumption efficiency and maneuverability.

[0053] In view of the above problems, this application proposes a dynamic positioning ship thrust distribution method based on an improved differential evolution algorithm, which is characterized in that it includes:

[0054] Step 1. Determine the layout of the propulsion device...

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Abstract

The invention provides a ship dynamic positioning thrust allocation method based on an improved differential evolution algorithm. A ship propulsion device layout is determined, parameters of each propeller are loaded, a target control instruction is received, and an optimal direction prediction model for each propeller is built; a global optimal direction obtained at the previous moment is imported to the optimal direction prediction model at the current moment to serve as an initial population of the optimized improved differential evolution algorithm, a global optimal direction of each propeller at the current moment is obtained through the improved differential algorithm; and the direction of each propeller is updated in real time according to an obtained global optimal solution, and then a thrust of each propeller is obtained through a quadratic programming method. A thrust error in a state adjusting process of each propeller is reduced, so that the long-term energy consumption efficiency and the maneuverability are improved; the search dimension of the differential evolution algorithm is reduced, so that the problems that the differential evolution algorithm is low in convergence speed and likely to fall into a local optimum solution are solved; and the global optimal solution obtained in continuous time is smoother, so that unnecessary fluctuation is avoided.

Description

technical field [0001] The invention belongs to the field of ship motion control, and in particular relates to a ship dynamic positioning thrust distribution method based on an improved differential evolution algorithm. Background technique [0002] The main function of a ship's dynamic positioning system is to keep the ship in a desired position or to drive the ship along a specified trajectory. It mainly calculates the total thrust and torque required by the ship in real time according to the deviation between the current position state of the ship and the expected value and the external environment interference, and then calculates the propulsion of each thruster equipped by the ship according to the thrust distribution logic method. The required thrust and its angle will be generated, and the control command will be transmitted to the propeller, and the propeller will generate the required thrust according to the command to complete the positioning of the ship. Therefor...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 丁福光余青青徐玉杰王元慧刘向波王成龙
Owner HARBIN ENG UNIV
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