A Thrust Allocation Method for Ship Dynamic Positioning Based on Improved Differential Evolution Algorithm

An evolutionary algorithm and thrust distribution technology, applied in two-dimensional position/channel control and other directions, can solve the problems of neglecting the long-term optimization of the propeller state, falling into the sub-optimal solution of the propeller state, reducing energy consumption efficiency and maneuverability, etc. Improve long-term energy efficiency and maneuverability, address slow convergence, and reduce thrust errors
CN109765910BActive Publication Date: 2021-10-01HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2021-10-01

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Abstract

The present invention provides a ship dynamic positioning thrust distribution method based on the improved differential evolution algorithm. By determining the layout of the ship's propulsion device, loading the parameters of each propeller, accepting the target control command, and establishing the optimal direction prediction model of the propeller; The obtained global optimal direction is imported into the optimal direction prediction model at the current moment, as the initial population of the optimized and improved differential evolution algorithm, and the global optimal direction of the thruster at the current moment is obtained through the improved differential algorithm; according to the obtained The global optimal solution updates the direction of the thruster in real time, and then obtains the thrust of the thruster through the quadratic programming method. The invention reduces the thrust error in the process of propeller state adjustment, improves the long-term energy consumption efficiency and maneuverability; reduces the search dimension of the differential evolution algorithm, and solves the problem that the differential evolution algorithm has a slow convergence speed and is easy to fall into a local optimal solution ; Make the global optimal solution obtained in continuous time smoother and avoid unnecessary fluctuations.
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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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