CN100489702C - Ship power-positioning control system based on fuzzy self-adaption algorithm - Google Patents

Ship power-positioning control system based on fuzzy self-adaption algorithm Download PDF

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Publication number
CN100489702C
CN100489702C CNB200510027565XA CN200510027565A CN100489702C CN 100489702 C CN100489702 C CN 100489702C CN B200510027565X A CNB200510027565X A CN B200510027565XA CN 200510027565 A CN200510027565 A CN 200510027565A CN 100489702 C CN100489702 C CN 100489702C
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China
Prior art keywords
digital
positioning
adaptive algorithm
ship power
analog
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CNB200510027565XA
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Chinese (zh)
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CN1710499A (en
Inventor
王磊
杨建民
李俊
张帆
李欣
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上海交通大学
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Abstract

The control system includes computer, potentiometric amplifier, A/D converter, D/A converter, filter, position finding system, learning device, optimizing decision maker. Position finding system is setup in ship. Information output of the position finding system is connected to input end of A/D converter. Output end of the A/D converter is connected to computer, which is connected to an input end of filter. Through the learning device and the optimizing decision maker, the output end of the filter is connected to the input end of the potentiometric amplifier. The output end of the potentiometric amplifier is connected to actuator. The invention can adapt to loading change of ship and change of sea condition so as to raise dynamic-positioning precision and lower positioning energy consumption.

Description

Ship power-positioning control system based on fuzzy adaptive algorithm
Technical field
What the present invention relates to is a kind of control system of Marine engineering technical field, particularly relates to a kind of ship power-positioning control system based on fuzzy adaptive algorithm.
Background technology
Present ship power-positioning control system generally is made up of controller, potentiometric amplifier, wave filter, location probe and topworks, the control method that adopts in controller is " ratio one integration one differential " method, it is the PID method, the ship original position of after the effect that is subjected to environmental forcess such as wind, wave, stream, must drifting about, play FEEDBACK CONTROL effect by the PID system this moment, ship is resetted, and the hundreds of thousands ton often relies on power to move about to millions of tons ship must wasteful energy.In addition, the requirement of marine dynamically positioning precision is also different with task, during pipelaying barge operation at sea, often to navigate to 1~2 meter precision, marine drilling vessel or mining dredger are then often different with the depth of water, only need to navigate to 3~5% of the depth of water, a promptly same ship has different positioning accuracy requests when carrying out different task, and the PID system then is difficult to the requirement of the different bearing accuracies of self-adaptation.
Find through literature search prior art, Chinese patent publication number: CN1121607A, patent name: the nerve network control system of dynamic positioning of vessels and method thereof, it comprises computing machine, potentiometric amplifier, analog/digital converter, digital/analog converter, location system, wave filter, learner, optimum decision device and topworks etc.Its dynamic localization method is to give learner by location system with information after filtering, selects control signal is defeated by topworks through optimum decision again, make ship with least error with impact near assigned address.What this system neural network data training was adopted is a kind of what is called " guiding simulated annealing method ", and this method optimizing efficient is not high, is absorbed in locally optimal solution easily, thereby can not realizes optimum control.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of ship power-positioning control system based on fuzzy adaptive algorithm is provided, its loading that can be adaptive to ship is changed and the sea situation variation, improve the dynamically positioning precision, reduce the feed forward type dynamically positioning of location energy consumption greatly.
The present invention is achieved by the following technical solutions, the present invention includes: computing machine, potentiometric amplifier, analog/digital converter, digital/analog converter, wave filter, location system, topworks, learner, the optimum decision device, location system is established aboard ship, the information output of location system is connected to the analog/digital converter input end, the analog/digital converter output terminal is connected to computing machine, computing machine is connected with filter input end again, filter output is through learner, the optimum decision device is received the potentiometric amplifier input end, and the potentiometric amplifier output terminal is received topworks.
Described topworks is that a cover is made up of two or more comprehensive swivelling airscrews or the thruster do not established at same straight line more than three.
Described screw propeller or thruster are located at ship both sides or initial and tail sections, and along the vertical midship section symmetry of boats and ships, they can be accurate collaborative when executing the task at the screw propeller of both sides or thruster, reach best control effect with the power consumption of minimum.
Described location system is global positioning system or acoustic positioning system.
Described learner adopts fuzzy self-adaption self-teaching algorithm, constantly carries out on-line study, grasps the Dynamic Positioning Control System rule of boats and ships under this loading and sea situation, can forecast next or several time point environmental forcess.
Described optimum decision device plays regulating action: optimization-decision-making device forecasts adjusting according to learner, regulate controlled variable with fuzzy adaptive algorithm, select optimum control signal, this signal produces simulating signal and export to topworks's (full circle swinging thruster) after signal amplifier strengthens through digital/analog converter.
The positional information that location system is measured becomes the treatable numerical information of computing machine after the analog/digital converter conversion, after being input to computing machine, carry out filtering by wave filter, remove high-frequency information, then through calculate the detent force and the moment that need apply boats and ships at the optimum decision device, these numerical informations become analog information after changing through digital/analog converter, export to topworks after amplifying by potentiometric amplifier, produce required detent force and moment by it.
Control system of the present invention is easy to be installed on the ship of existing dynamically positioning equipment, it does not need to establish across the sea a plurality of floating probes, feedforward cancellation environmental forces on the horizon (containing power such as wind, wave, stream) is to the effect of hull preferably, can with the error of minimum with impact near assigned address, cut down the consumption of energy greatly; Loading variation, job change and the sea situation that can be adaptive to ship change, so can improve the dynamically positioning precision.The present invention has remedied the deficiency of " nerve network control system of dynamic positioning of vessels and method thereof ", provide a kind of loading that can be adaptive to ship to change and the sea situation variation, can improve the dynamically positioning precision, reduce the control system of the feed forward type dynamically positioning of location energy consumption greatly based on fuzzy adaptive algorithm.
Description of drawings
Fig. 1 is a structural representation of the present invention
Embodiment
As shown in Figure 1, the present invention includes: computing machine 1, potentiometric amplifier 2, analog/digital converter 3, digital/analog converter 4, wave filter 5, location system 6, topworks 7, learner 8, optimum decision device 9, the information output of location system 6 is connected to analog/digital converter 3 input ends, analog/digital converter 3 output terminals are connected to computing machine 1, computing machine 1 is connected with wave filter 5 input ends, wave filter 5 output terminals are through learner 8, optimum decision device 9 is connected to digital/analog converter 4 input ends, digital/analog converter 4 output terminals are connected to potentiometric amplifier 2 input ends, and potentiometric amplifier 2 output terminals are connected to topworks 7.
Described location system 6 is global positioning system or acoustic positioning system.
Described topworks 7 is that the thruster that a cover distributes at grade by two or more comprehensive swivelling airscrews or more than three is formed.
Described screw propeller or thruster are located at ship both sides or initial and tail sections, and along the vertical midship section symmetry of boats and ships, they can be accurate collaborative when executing the task at the screw propeller of both sides or thruster, reach best control effect with the power consumption of minimum.
Described learner 8 can forecast next or several time point environmental forcess through on-line study.
Described optimum decision device 9 plays regulating action: optimization-decision-making device forecasts adjusting according to learner 8, regulate controlled variable with fuzzy adaptive algorithm, select optimum control signal, this signal produces simulating signal and export to topworks 7 after signal amplifier strengthens through digital/analog converter 4.

Claims (6)

1. ship power-positioning control system based on fuzzy adaptive algorithm, comprise: computing machine (1), potentiometric amplifier (2), analog/digital converter (3), digital/analog converter (4), wave filter (5), location system (6), topworks (7), learner (8), optimum decision device (9), it is characterized in that, the information output of location system (6) is connected to analog/digital converter (3) input end, analog/digital converter (3) output terminal is connected to computing machine (1), computing machine (1) is connected with wave filter (5) input end, wave filter (5) output terminal is through learner (8), optimum decision device (9) is connected to digital/analog converter (4) input end, digital/analog converter (4) output terminal is connected to potentiometric amplifier (2) input end, and potentiometric amplifier (2) output terminal is connected to topworks (7).
2. the ship power-positioning control system based on fuzzy adaptive algorithm according to claim 1 is characterized in that, described location system (6) is global positioning system or acoustic positioning system.
3. the ship power-positioning control system based on fuzzy adaptive algorithm according to claim 1, it is characterized in that described topworks (7) is that the thruster that a cover distributes at grade by two or more comprehensive swivelling airscrews or more than three is formed.
4. the ship power-positioning control system based on fuzzy adaptive algorithm according to claim 3 is characterized in that, described screw propeller or thruster are located at ship both sides or initial and tail sections, indulges the midship section symmetry at the screw propeller or the thruster of both sides along boats and ships.
5. the ship power-positioning control system based on fuzzy adaptive algorithm according to claim 1, it is characterized in that described learner adopts fuzzy self-adaption self-teaching algorithm, constantly carry out on-line study, grasp the dynamically positioning of boats and ships under this loading and sea situation
Control law can be forecast next or several time point environmental forcess.
6. the ship power-positioning control system based on fuzzy adaptive algorithm according to claim 1, it is characterized in that, described optimum decision device (9), forecast adjusting according to learner (8), regulate controlled variable with fuzzy adaptive algorithm, select optimum control signal, this signal produces simulating signal and export to topworks (7) after signal amplifier strengthens through digital/analog converter (4).
CNB200510027565XA 2005-07-07 2005-07-07 Ship power-positioning control system based on fuzzy self-adaption algorithm CN100489702C (en)

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CN102455708A (en) * 2010-10-28 2012-05-16 上海振华重工(集团)股份有限公司 System and method for on-line recognition and control of ship model for ship power positioning
CN102176168A (en) * 2011-03-31 2011-09-07 上海交通大学 Adaptive interference compensation dynamic surface dredger power positioning control system and method thereof
CN102426418B (en) * 2011-09-29 2013-06-05 哈尔滨工程大学 Single-channel electro-hydraulic position servo control method of omnibearing propeller of submarine
CN102819220B (en) * 2012-07-24 2014-06-04 华中科技大学 Adaptive control method of autopilot of ship
CN102929157B (en) * 2012-11-15 2015-10-21 哈尔滨工程大学 A kind of dynamic positioning of vessels computer for controlling system of triple redundance
CN103529842B (en) * 2013-10-17 2016-06-29 哈尔滨工程大学 A kind of ship's fix control method based on asymptotic guiding
CN103699007B (en) * 2014-01-10 2016-06-01 大连海事大学 The method of design of a kind of dynamic positioning of vessels system
CN104155043B (en) * 2014-08-07 2016-08-24 上海交通大学 A kind of dynamic positioning system external environment force measuring method
CN108181900B (en) * 2017-12-26 2020-11-24 华南理工大学 Navigation ship motion control method based on reinforcement learning intelligent algorithm
CN108572550A (en) * 2018-03-16 2018-09-25 上海交通大学 A kind of online real-time thrust distribution method based on machine learning
CN111427269B (en) * 2020-04-29 2021-05-18 上海交通大学 Dynamic positioning model test control method based on fuzzy PID control

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