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Firework algorithm-based ship dynamic positioning prediction controller design method

A predictive controller and dynamic positioning technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as low efficiency of rolling optimization and control increment not satisfying constraints

Inactive Publication Date: 2021-03-26
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0004] Purpose of the invention: The present invention aims to provide a design method of ship dynamic positioning predictive controller that meets system constraints and speeds up rolling optimization, which can solve the problems of low rolling optimization efficiency and control increments that do not meet the constraints in the control process

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  • Firework algorithm-based ship dynamic positioning prediction controller design method
  • Firework algorithm-based ship dynamic positioning prediction controller design method
  • Firework algorithm-based ship dynamic positioning prediction controller design method

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Embodiment Construction

[0127] The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.

[0128] like Figure 1 to Figure 3 As shown, this paper describes a design method of ship dynamic positioning predictive controller based on fireworks algorithm. The present invention realizes according to the following steps:

[0129] Step 1: Establish a model, establish the earth coordinate system and ship coordinate system required by the ship, analyze and model the ship according to kinematics and dynamics, and obtain the six-degree-of-freedom mathematical model of the ship

[0130]

[0131]

[0132] where vector ν=[u,v,ω,p,q,r] T , represents the linear velocity and angular velocity of the ship in the hull coordinate system, vector η=[x,y,z,φ,θ,ψ] T , representing the position and attitude angle of the ship in the geodetic coordinate system. R(ψ) is the rotation matrix, M is the system ine...

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Abstract

The invention discloses a firework algorithm-based ship dynamic positioning prediction controller design method characterized by comprising the following steps: 1, establishing a dynamic positioning ship model; 2, identifying model parameters to obtain expressions of A (q-1) and B (q-1); 3, performing recursion through a diophantus-of-alexandria equation, to obtain expressions of Ej (q-1) and Fj (q-1); 4, calculating to obtain a coefficient matrix G; 5, performing rolling optimization according to a target function to obtain a control increment [delta]tau; 6, judging whether the control increment meets a constraint condition or not, if the control increment meets a constraint condition, entering the step 7, and if the control increment does not meet a constraint condition, performing optimization by adopting a firework algorithm flow, taking [delta]tau as optimization fireworks, and obtaining optimal [delta]tau after the optimization is finished; 7, calculating control input tau (k) atthe moment according to the optimal delta tau, and inputting the control input tau (k) to a control system; and step 8, turning to the step 2, continuously repeating the control flow according to theactual operation data of the system, and finding the optimal control output at the next moment until the control is finished.

Description

technical field [0001] The invention relates to a design method of a ship dynamic positioning predictive controller, in particular to a design method of a ship dynamic positioning predictive controller that meets system constraints and accelerates rolling optimization. Background technique [0002] Traditional mooring positioning does not require complex thruster systems, additional motors and controllers, and the ship's position will not deviate due to system failure. However, once the anchor is anchored, the maneuverability is greatly limited. When moving again, the anchor needs to be handled, and it takes a long time to drop the anchor and take the anchor. And as the water depth increases, the arrangement and installation of the mooring system becomes difficult, and the cost of construction and installation increases sharply. The method of multi-point anchoring is no longer applicable; compared with the traditional mooring system, the dynamic positioning system does not u...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘文彬李众
Owner JIANGSU UNIV OF SCI & TECH
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