A multi-objective optimization method for dynamic positioning based on improved nsga-Ⅱ
A multi-objective optimization, dynamic positioning technology, applied in two-dimensional position/channel control and other directions, to enhance environmental protection and economy, increase richness, and improve search ability and performance.
Active Publication Date: 2021-11-23
HARBIN ENG UNIV
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[0004] The purpose of the present invention is to provide a multi-objective optimization method for dynamic positioning based on NSGA-II, which solves the multi-objective optimization problem of controller control effect and ship energy consumption
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[0076] The present invention will be further described below with reference to the accompanying drawings.
[0077] With the continuous increase of people's demand for resources, land oil and natural gas resources are increasingly depleted, and marine resources have become the focus of exploration and development. Dynamic positioning has been paid attention to as an indispensable key technology for deep sea development. Dynamic positioning refers to the use of the thrust generated by the ship's own propulsion to offset the interference caused by the external environment such as wind, waves and currents, so as to maintain the position and heading of the ship, so that the ship can work within the specified position range. Compared with the traditional mooring system, dynamic positioning technology has the advantages of not being limited by water depth, flexible operation and high positioning accuracy. However, since the propeller consumes fuel in the process of adjusting the shi...
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The invention belongs to the field of ship dynamic positioning control, and specifically relates to a dynamic positioning multi-objective optimization method based on improved NSGA-II, comprising the following steps: establishing a three-degree-of-freedom dynamic model and a kinematics model of a dynamic positioning ship; utilizing dynamic surface control Methods Design the dynamic positioning control law of the ship; establish the energy consumption model of the dynamic positioning ship; select the optimization objective function, use the improved NSGA-Ⅱ to adjust the control parameters of the dynamic surface controller, and conduct multi-objective optimization of the controller effect and ship energy consumption . The invention considers the problem of energy consumption in the process of dynamic positioning changing its own position and attitude, uses the improved NSGA-II to adjust the parameters of the controller, reduces the energy consumption of the thruster, and enhances environmental protection and economy.
Description
technical field [0001] The invention belongs to the field of ship dynamic positioning control, in particular to a dynamic positioning multi-objective optimization method based on improved NSGA-II. Background technique [0002] With the continuous increase of people's demand for resources, land oil and natural gas resources are increasingly depleted, and marine resources have become the focus of exploration and development. Dynamic positioning has been paid attention to as an indispensable key technology for deep sea development. Dynamic positioning refers to the use of the thrust generated by the ship's own propulsion to offset the interference caused by the external environment such as wind, waves and currents, so as to maintain the position and heading of the ship, so that the ship can work within the specified position range. Compared with the traditional mooring system, dynamic positioning technology has the advantages of not being limited by water depth, flexible opera...
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IPC IPC(8): G05D1/02
Inventor 王元慧张潇月丁福光张晓云刘扬
Owner HARBIN ENG UNIV