Marine power positioning control method based on fuzzy adaptive algorithm

A fuzzy self-adaptive, dynamic positioning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of inability to achieve optimal control and low optimization efficiency, and achieve the effect of reducing energy consumption and improving dynamic positioning accuracy.

Inactive Publication Date: 2006-05-24
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

The optimization efficiency of this method is not high, and it is easy to fall

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  • Marine power positioning control method based on fuzzy adaptive algorithm
  • Marine power positioning control method based on fuzzy adaptive algorithm
  • Marine power positioning control method based on fuzzy adaptive algorithm

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Embodiment Construction

[0038] The position measuring system of this embodiment adopts a far-infrared non-contact six-degree-of-freedom position measuring system, the filter adopts a Kalman filter, the industrial computer contains fuzzy adaptive control software, and the actuator adopts a full-turn thruster.

[0039] The present embodiment comprises following 5 steps:

[0040] (1) Measure the absolute position of the current ship through the far-infrared non-contact six-degree-of-freedom position measurement system, including surge, sway and yaw;

[0041] (2) The position information is input into the industrial computer through a special watertight signal line. The computer controls the analog / digital converter to regularly collect the position signal of the ship, and the sampling period is between 1 and 10 seconds. The position signal is sent to the filter to eliminate the high-frequency components and only keep the low-frequency parts lower than the wave frequency;

[0042] (3) A relative coordi...

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Abstract

The invention includes steps: (1) using position finding system to measure position information of ship; (2) using A/D convertor converts position information obtained from step (1) to digital signal; digital signal passes filter, and the part of frequency less than frequency of waves is transferred to controller; (3) blur adaptive algorithm contained in controller fuzzifies received precise information; (4) control force signal generated by controller passing through D/A converter obtains analog signal, which is enhanced by amplifier and output to actuator; (5) actuator carries out execution according to instruction, and ship is moved to appointed position. The invention better counteracts effect on ship hull by coming environmental force (including wind, wave and stream etc. forces) in feedforward. Thus, ship is able to reach appointed position under minimal error and impulsion. Advantages are: lowering energy consumption, and increasing dynamic positioning precision.

Description

technical field [0001] The present invention relates to a control method in the technical field of ship engineering, in particular to a control method for ship dynamic positioning based on a fuzzy self-adaptive algorithm. Background technique [0002] The current ship dynamic positioning control system is generally composed of a controller, a potential amplifier, a filter, a position measuring probe and an actuator. There are various control methods used in the controller, among which the "proportional-integral-differential" method is used. For example, the PID method, the ship must drift in place after being affected by environmental forces such as wind, waves, and currents. At this time, the PID system acts as a feedback control to reset the ship. Ships of hundreds of tons to several million tons Often relying on power to move around must consume a lot of energy. In addition, the requirements for offshore dynamic positioning accuracy also vary with tasks. When a pipe-layi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 王磊杨建民张承懿陈恒姚美旺彭涛
Owner SHANGHAI JIAO TONG UNIV
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