Sign function-based dynamic positioning fixed time control method

A dynamic positioning and symbolic function technology, applied in two-dimensional position/channel control, non-electric variable control, vehicle position/route/height control, etc., can solve the problem that dynamic positioning ships cannot achieve synchronous convergence and achieve optimal motion path, avoiding anomalies, and reducing energy consumption

Pending Publication Date: 2021-11-19
DALIAN MARITIME UNIVERSITY
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  • Abstract
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Problems solved by technology

[0004] The invention provides a dynamic positioning fixed-time control method based on a symbolic function, which solves the problem that the state quantities of a dynamic positioning ship cannot achieve synchronous convergence at a fixed time

Method used

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  • Sign function-based dynamic positioning fixed time control method
  • Sign function-based dynamic positioning fixed time control method
  • Sign function-based dynamic positioning fixed time control method

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Experimental program
Comparison scheme
Effect test

Embodiment

[0064] Step 1: Establish the kinematics and dynamics model of the dynamic positioning vessel:

[0065]

[0066]

[0067] Where: R(η(t)) represents the coordinate system transformation matrix, η=[x,y,ψ] T Indicates the position and heading angle of the dynamically positioned ship; υ=[u,v,r] T Indicates the velocity and angular velocity of the dynamically positioned ship; M 0 Indicates the mass and moment of inertia of the dynamic positioning ship; C 0 (ν) represents the Coriolis centripetal force matrix, D 0 (ν) represents the damping coefficient matrix; τ represents the control force and control torque. The initial values ​​of the position and velocity vectors are set to

[0068] Then combine the system (1) and (2) to establish a second-order mathematical model:

[0069]

[0070] in,

[0071]

[0072]

[0073]

[0074] In the formula,

[0075] M(η(t))=R(η(t))M 0 R -1 (η(t)) (7)

[0076] The second step is to design a new type of direction sign f...

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Abstract

The invention provides a sign function-based dynamic positioning fixed time control method, and relates to the technical field of dynamic positioning control, and the method comprises the following steps: collecting the pose information of a dynamic positioning ship; based on the kinematics and dynamics characteristics of the pose information of the dynamic positioning ship, establishing a kinematics model and a dynamics model of the dynamic positioning ship; establishing a second-order affine mathematical model according to the kinematic model and the kinetic model; setting a sign function based on a vector direction; designing a time synchronization stable sliding mode surface according to the sign function based on the vector direction; aiming at the triggering condition of the sliding mode surface, realizing the switching design of the sliding mode surface, and ensuring the occurrence of a non-singular phenomenon; and according to the sliding mode surface, designing a fixed time controller of which each state quantity synchronously converges along with time. The control method disclosed by the invention has the characteristics of high control precision, path optimization, energy consumption reduction and the like, and is suitable for being applied to the dynamic positioning fixed time control task of the offshore workboat.

Description

technical field [0001] The invention relates to the technical field of dynamic positioning control, in particular to a symbolic function-based dynamic positioning fixed time control method. Background technique [0002] At present, the deep sea development strategy has become one of the forward-looking frontier research areas. As one of the core contents of major science and technology, the research on dynamic positioning control of offshore operation vessel has also been explored by more and more scientific and technological workers. Carry out breakthroughs in cutting-edge scientific and technological fields such as deep-sea operation and maintenance support ships, equipment test ships, and heavy-duty icebreakers, promote the R&D and application of large-scale liquefied natural gas ships and deep-sea oil and gas production platforms, and promote the demonstration of advanced reactor types such as offshore floating nuclear power platforms. Power is inseparable Continuous R&...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/02
CPCG05D1/0875G05D1/0206
Inventor 梁晓玲李东禹
Owner DALIAN MARITIME UNIVERSITY
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