CN107491848A - Dynamic positioning ship energy management optimization method with automatic fault isolation - Google Patents

Dynamic positioning ship energy management optimization method with automatic fault isolation Download PDF

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Publication number
CN107491848A
CN107491848A CN201710906731.6A CN201710906731A CN107491848A CN 107491848 A CN107491848 A CN 107491848A CN 201710906731 A CN201710906731 A CN 201710906731A CN 107491848 A CN107491848 A CN 107491848A
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msub
mrow
generating
power
dynamic positioning
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吴德烽
赵珂
王国玲
顾佳栋
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Jimei University
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Jimei University
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/06Electricity, gas or water supply

Abstract

The present invention relates to a kind of dynamic positioning ship energy management optimization method with automatic fault isolation, it is scheduled according to the energy consumption characters and its output ratio of generating set, using the combination seized the opportunity of every generating set power output and its peak power ratio and the ratio of every generator rating power and power maximum generation machine rated power as feasible solution, gregarious optimal solution is searched using genetic algorithm.And each generating set running status is observed using scope, when generating set breaks down, fault generator group is cut off automatically, completes Fault Isolation.Remaining generating set is rescheduled, ensures network of ship safety and stability.A kind of dynamic positioning ship energy management optimization method with automatic fault isolation proposed by the invention, reasonable distribution is carried out to the load of each marine generator group, ensure network of ship safety, reduce ship energy consumption, to reach the purpose for reducing shipping transport cost and Pollution From Ships.

Description

Dynamic positioning ship energy management optimization method with automatic fault isolation
Technical field
The present invention relates to energy management system for ship, particularly a kind of dynamic positioning ship energy with automatic fault isolation Buret manages optimization method.
Background technology
Ship energy management refers to according to being actually needed for Ship Electrical Power System and caused unification is carried out to ship electric energy Scheduling, management and control.The purpose is to according to ship actual condition, consider ship manoeuverability, economical, operation of power networks Stability and reliability, coordinate control electrical equipment, realize distributing rationally and managing for electric energy, meet continuous-stable safety On the basis of take into account it is economical, it is ensured that ship minimum power consumption.
Generating set scheduling has been widely used by land.State Council issues《Energy-saving power generation dispatching method》Afterwards, open successively The pilot work of energy-saving power generation dispatching reform is opened up.The basic principle of electric power system dispatching is defined, by each duty generator group Power supply energy consumption level, arrange to generate electricity successively from low energy consumption unit to high energy consumption unit.Large-scale optimization algorithm is to realize energy-conservation The important method of target, be applied to the algorithm of energy-saving power generation dispatching mainly linear law of planning, dynamic programming, genetic algorithm, Particle cluster algorithm, ant group algorithm etc..
The energy management of dynamic positioning ship is different from the scheduling of land generator, is mainly reflected in:1st, ship energy management will Based on safety of ship operates, higher requirement is proposed to the safety and stability of power network;2nd, because network of ship circuit is short, resistance Anti- small, its network loss can be neglected;3rd, network of ship is smaller compared to land net capacity, the change of load generator is influenceed compared with Greatly;4th, vessel power changes greatly, and changes quickly, marine generator is influenceed obvious.
The main method of marine generator group scheduling is to ignore the energy consumption characteristics of every generating set at present, point of equal proportion Load with each generating set, is easily caused ship high energy consumption, and pollution is big.Although the dispatching method of land generating set can subtract Lack ship energy consumption, obtain certain effect of optimization, but be not suitably modified for network of ship, it is impossible to meet ship energy The requirement of management optimization.
The content of the invention
It is an object of the invention to provide a kind of dynamic positioning ship energy management optimization side with automatic fault isolation Method, to overcome defect present in prior art.
To achieve the above object, the technical scheme is that:A kind of dynamic positioning ship with automatic fault isolation Energy management optimization method, is realized in accordance with the following steps:
Step S1:Determine power needed for dynamic positioning ship;
Step S2:Establish the dynamic positioning ship energy management optimized mathematical model;
Step S3:Optimal Parameters are set, initialize population, and according to ranking fitness;
Step S4:Individual is selected by roulette wheel selection;
Step S5:Crossover operation is carried out by single-point interleaved mode;
Step S6:Mutation operation is carried out by way of small probability variation;
Step S7:Selected parent is substituted with filial generation, produces population of new generation, and sort according to fitness height;
Step S8:Judge whether to meet end condition, if satisfied, then exporting optimal feasible solution, and perform step S9, otherwise Return to step S4;
Step S9:Dynamic positioning ship energy management is optimized according to optimal feasible solution;
Step S10:The running status of generating set is observed by an observer;
Step S11:Judge to run whether generating set breaks down;If breaking down, the step S12 is performed, otherwise Return to the step S10;
Step S12:To breaking down, generating set carries out Fault Isolation;
Step S13:Dynamic positioning ship generating set is rescheduled, and returns to the step S10.
In an embodiment of the present invention, in the step S2, the dynamic positioning ship energy management optimizes mathematical modulo Type includes:Object function and constraints;The object function includes:Fuel consumption is minimum;Constraints includes:Unit processing Constraint and unit Constraints of Equilibrium.
In an embodiment of the present invention, the dynamic positioning ship energy management Optimized model is:
Wherein,pGjFor dynamic positioning ship every The power output of generating set, pj maxFor the rated power of every generating set, n-th generating set power maximum, p are rememberedn maxFor Rated power, pDFor ship total load, pGFor the output general power and the ratio of the rated power of power maximum generation machine of generating set Value;F(pG) it is the total amount that generating set consumes fuel;pjFor jth platform unit power output and the ratio of its rated power;pj' be The ratio of jth platform unit rated power and power maximum generation machine rated power;aj、bj、cjFor jth platform unit fuel consumption system Number;pjminFor jth platform unit minimum output power and the ratio of its rated power;pjmaxFor jth platform unit peak power output with The ratio of its rated power;pD' for ship total load and power maximum generation machine rated power ratio.
In an embodiment of the present invention, the Optimal Parameters include:Select probability, crossover probability, mutation probability, population rule Mould, the dimension of feasible solution, the position upper limit of feasible solution, the position lower limit of feasible solution and feasible solution obtain greatest iteration number;
Initial point utilizes generating random number in the initialization population:
x(0)=pjmin+(pjmax-pjmin) * rand (), j=1,2....n.
In an embodiment of the present invention, in the step S4, each individual is selected in the roulette wheel selection Probability is directly proportional to its fitness size;Calculate each individual fitness f (xi), then calculate each individual be genetic to Follow-on probability P (xi), according to P (xi) selection individual, and:
Wherein, N is population scale, and i, j are respectively the sequence number of individual.
In an embodiment of the present invention, in the step S5, whether individual meets crossover probability selected by judgement, if full Foot, then carry out crossover operation;The Arbitrary Dimensions of feasible solution are randomly selected as crosspoint, the element behind crosspoint is interchangeable, Complete crossover operation.
In an embodiment of the present invention, in the step S8, the end condition walks for greatest iteration set in advance Number.
In an embodiment of the present invention, in the step S10, the running status of the generating set includes:Generator The power and output voltage of group;And observer error is detected, judge whether to exceed calibration value.
In an embodiment of the present invention, in the step S12, by carrying out off-the-line to the generating set to break down, Complete Fault Isolation.
Compared to prior art, the invention has the advantages that:One kind proposed by the invention has automatic fault The dynamic positioning ship energy management optimization method of isolation, reasonable distribution is carried out to the load of each marine generator group, ensured Network of ship safety, is reduced;Volume ship energy consumption, reduces shipping transport cost, reduces Pollution From Ships.
Brief description of the drawings
Fig. 1 is a kind of flow of the dynamic positioning ship energy management optimization method with automatic fault isolation of the present invention Figure.
Fig. 2 is that there is the dynamic positioning ship energy management of automatic fault isolation to optimize system in one embodiment of the invention to open up Mend structural representation.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is specifically described.
The present invention proposes a kind of dynamic positioning ship energy management optimization method with automatic fault isolation, such as Fig. 1 It is shown, comprise the following steps:
Step S1:Determine power needed for dynamic positioning ship;
Step S2:Establish dynamic positioning ship energy management optimized mathematical model;
Further, in the present embodiment, dynamic positioning ship energy management optimized mathematical model include object function and Constraints;It is minimum that object function includes fuel consumption;Constraints includes unit processing constraint, unit Constraints of Equilibrium.
The power output for remembering every generator is pGj, the rated power of every generating set is pj max, and remember n-th generating The power of the assembling unit is maximum, rated power pn max, ship total load is pD, wherein, n is the quantity of generating set, then makes
Then energy management Optimized model concrete form is:
Wherein, pGFor the output general power and the ratio of the rated power of power maximum generation machine of generating set;F(pG) be Generating set consumes the total amount of fuel;pjFor jth platform unit power output and the ratio of its rated power;pj' it is jth platform unit The ratio of rated power and power maximum generation machine rated power;aj、bj、cjFor jth platform unit fuel coefficient;pjminFor The ratio of jth platform unit minimum output power and its rated power;pjmaxFor jth platform unit peak power output and its specified work( The ratio of rate;pD' for ship total load and power maximum generation machine rated power ratio.
Step S3:Optimal Parameters are set, initialize population, and according to ranking fitness;
Further, in the present embodiment, Optimal Parameters include:Select probability, crossover probability, mutation probability, population rule Mould, the dimension of feasible solution, the position upper limit of feasible solution, the position lower limit of feasible solution, feasible solution obtain greatest iteration number.
In population process is initialized, initial point utilizes generating random number, and embodiment is as follows:
x(0)=pjmin+(pjmax-pjmin) * rand (), j=1,2....n (6)
Step S4:Individual is selected by roulette wheel selection;
Further, in the present embodiment, roulette wheel selection general principle is the selected probability of each individual and its Fitness size is directly proportional.Specific good and sound following manner is realized:Each individual fitness f (x are calculated firsti), then calculate Go out each individual to be genetic to follow-on probability P (xi), according to P (xi) selection individual, wherein:
Wherein, N is population scale, and i, j are respectively the sequence number of individual.
Step S5:Crossover operation is carried out using single-point interleaved mode;
Further, in the present embodiment, whether individual meets crossover probability selected by judgement, if satisfied, then being intersected Operation.The Arbitrary Dimensions of feasible solution are randomly selected as crosspoint, the element behind crosspoint is interchangeable, and completes crossover operation.
Step S6:Mutation operation is carried out using small probability variation mode;
Further, in the present embodiment, whether individual meets mutation probability selected by judgement, if satisfied, then entering row variation Operation.It is again initial to randomly choose the arbitrary element of individual, completes mutation operation.
Step S7:Selected parent is substituted with filial generation, produces population of new generation, and sort according to fitness height;
Step S8:Judgement is to meet end condition, if satisfied, then exporting optimal feasible solution, and performs step S9;Otherwise, Return to step S4;Wherein, end condition is greatest iteration step number set in advance.
Step S9:Dynamic positioning ship generating set is scheduled according to optimal feasible solution;
Step S10:By the observation device matched with every generating set, the running status of generating set is observed, including The power and output voltage of generating set are observed, whether observer error exceedes calibration value.
Step S11:Judge to run whether generating set breaks down;If breaking down, step S12 is performed, is otherwise returned Step S10;
Step S12:To breaking down, generating set is isolated;Off-the-line is carried out to the generating set to break down, completed Fault Isolation.
Step S13:Marine generator group is rescheduled, and return to step S10.
In order to allow those skilled in the art to further appreciate that method proposed by the invention, enter with reference to specific embodiment Row explanation.
The method proposed using the present embodiment, energy is carried out to the dynamic positioning ship equipped with 8 diesel generating sets Management optimization, its power are shown in table 1:
Table 1
Units consumption characteristic is as follows:
0≤pj< 0.25
S(pj(the p of)=2.9512j)3+187.866(pj)2+270.67Pj+289
0.25 < pj< 0.5
S(pj(the p of)=2.9572j-0.25)3+190.08(pj-0.25)2-176.184(pj-0.25)+233.12
0.5 < pj< 0.75
S(pj(the p of)=7.0041j-0.5)3+192.293(pj-0.5)2-80.591(pj-0.5)+201
0.75≤pj< 0.85
S(pj)=- 1.4424 × 103(pj-0.75)3+197.546(pj-0.75)2+16.869(pj-0.75)+192.98
0.85≤pj< 0.9
S(pj)=1.9401 × 103(pj-0.85)3+235.158(pj-0.85)2+13.10(pj-0.25)+195.2
0.9≤pj< 1.0
S(pj(the p of)=67.134j-0.9)3+55.8598(pj-0.9)2+4.1427(pj-0.9)+195.51
1.0≤pj< 1.1
S(pj(the p of)=67.134j-1.0)3+76.0(pj-1.0)2+17.328(pj-1.0)+195.55
Then according to formula (1) to formula (5), it may be determined that marine generator group scheduling model.
Work as pDDuring '=1, the method that is provided according to the dispatching method of current conventional marine generator group and the present embodiment, respectively Generating set power distribution is as shown in table 2:
Table 2
According to above-mentioned table 2, three kinds of traditional ship generator dispatching method point:
First, preferentially using the relatively low generator of power under the premise of ship load is met, according to generator power equal proportion Distribution load;
2nd, preferentially using the higher generator of power under the premise of ship load is met, according to generator power equal proportion Distribution load;
3rd, under the premise of meeting ship load, required power is distributed into all generators by power proportions.The present embodiment carries The ship energy management method of confession is to carry out power distribution based on genetic algorithm.
Ship commonly uses the dispatching method of marine generator group and the consumption of method provided by the invention at present under different load Oil mass contrast is as shown in table 3:
Table 3
According to table 3 and Fig. 2, compared to traditional ship generator dispatching method, the method that the present embodiment provides can The consumption of ship energy is reduced under each operating mode,
pDDuring '=3, if assuming, 5# generating sets break down, and table 4 represents generating set scheduling mode before failure, table 5 Generating set scheduling mode after expression failure.
Table 4
Table 5
According to table 4, table 5, after generating set breaks down, the method provided by the present embodiment can be to failure Generating set is isolated, and meets network of ship power demand.
Above is presently preferred embodiments of the present invention, all changes made according to technical solution of the present invention, caused function are made During with scope without departing from technical solution of the present invention, protection scope of the present invention is belonged to.

Claims (9)

1. a kind of dynamic positioning ship energy management optimization method with automatic fault isolation, it is characterised in that according to as follows Step is realized:
Step S1:Determine power needed for dynamic positioning ship;
Step S2:Establish the dynamic positioning ship energy management optimized mathematical model;
Step S3:Optimal Parameters are set, initialize population, and according to ranking fitness;
Step S4:Individual is selected by roulette wheel selection;
Step S5:Crossover operation is carried out by single-point interleaved mode;
Step S6:Mutation operation is carried out by way of small probability variation;
Step S7:Selected parent is substituted with filial generation, produces population of new generation, and sort according to fitness height;
Step S8:Judge whether to meet end condition, if satisfied, then exporting optimal feasible solution, and perform step S9, otherwise return Step S4;
Step S9:Dynamic positioning ship energy management is optimized according to optimal feasible solution;
Step S10:The running status of generating set is observed by an observer;
Step S11:Judge to run whether generating set breaks down;If breaking down, the step S12 is performed, is otherwise returned The step S10;
Step S12:To breaking down, generating set carries out Fault Isolation;
Step S13:Dynamic positioning ship generating set is rescheduled, and returns to the step S10.
2. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is, in the step S2, the dynamic positioning ship energy management optimized mathematical model includes:Object function and constraint Condition;The object function includes:Fuel consumption is minimum;Constraints includes:Unit processing constraint and unit Constraints of Equilibrium.
3. the dynamic positioning ship energy management optimization method according to claim 2 with automatic fault isolation, it is special Sign is that the dynamic positioning ship energy management Optimized model is:
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>F</mi> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mi>G</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mo>&amp;lsqb;</mo> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mi>j</mi> </msub> <mo>+</mo> <msub> <mi>b</mi> <mi>j</mi> </msub> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>+</mo> <msub> <mi>c</mi> <mi>j</mi> </msub> <msup> <msub> <mi>p</mi> <mi>j</mi> </msub> <mn>2</mn> </msup> <mo>+</mo> <msub> <mi>d</mi> <mi>j</mi> </msub> <msubsup> <mi>p</mi> <mi>j</mi> <mn>3</mn> </msubsup> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>&amp;CenterDot;</mo> <msup> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>&amp;prime;</mo> </msup> <mo>&amp;rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>p</mi> <mrow> <mi>j</mi> <mi>min</mi> </mrow> </msub> <mo>&amp;le;</mo> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>&amp;le;</mo> <msub> <mi>p</mi> <mrow> <mi>j</mi> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>&amp;CenterDot;</mo> <msup> <msub> <mi>p</mi> <mi>j</mi> </msub> <mo>&amp;prime;</mo> </msup> <mo>)</mo> </mrow> <mo>=</mo> <msup> <msub> <mi>p</mi> <mi>D</mi> </msub> <mo>&amp;prime;</mo> </msup> </mrow> </mtd> </mtr> </mtable> </mfenced>
Wherein,pGjFor the every generating of dynamic positioning ship The power output of unit, pj maxFor the rated power of every generating set, n-th generating set power maximum, p are rememberedn maxTo be specified Power, pDFor ship total load, pGFor the output general power and the ratio of the rated power of power maximum generation machine of generating set;F (pG) it is the total amount that generating set consumes fuel;pjFor jth platform unit power output and the ratio of its rated power;pj' it is jth The ratio of platform unit rated power and power maximum generation machine rated power;aj、bj、cjFor jth platform unit fuel coefficient; pjminFor jth platform unit minimum output power and the ratio of its rated power;pjmaxFor jth platform unit peak power output and its The ratio of rated power;pD' for ship total load and power maximum generation machine rated power ratio.
4. the dynamic positioning ship energy management optimization method according to claim 3 with automatic fault isolation, it is special Sign is that the Optimal Parameters include:Select probability, crossover probability, mutation probability, population scale, the dimension, feasible of feasible solution The position upper limit of solution, the position lower limit of feasible solution and feasible solution obtain greatest iteration number;
Initial point utilizes generating random number in the initialization population:
x(0)=pjmin+(pjmax-pjmin) * rand (), j=1,2....n.
5. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is, in the step S4, in the roulette wheel selection the selected probability of each individual and its fitness size into Direct ratio;Calculate each individual fitness f (xi), then calculate and each individual be genetic to follow-on probability P (xi), root According to P (xi) selection individual, and:
<mrow> <mi>P</mi> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <munderover> <mi>&amp;Sigma;</mi> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>j</mi> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow>
Wherein, N is population scale, and i, j are respectively the sequence number of individual.
6. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is, in the step S5, whether individual meets crossover probability selected by judgement, if satisfied, then carrying out crossover operation;At random The Arbitrary Dimensions for choosing feasible solution are used as crosspoint, and the element behind crosspoint is interchangeable, completion crossover operation.
7. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is, in the step S8, the end condition is greatest iteration step number set in advance.
8. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is that in the step S10, the running status of the generating set includes:The power and output voltage of generating set;And Observer error is detected, judges whether to exceed calibration value.
9. the dynamic positioning ship energy management optimization method according to claim 1 with automatic fault isolation, it is special Sign is, in the step S12, by carrying out off-the-line to the generating set to break down, completes Fault Isolation.
CN201710906731.6A 2017-09-29 2017-09-29 Dynamic positioning ship energy management optimization method with automatic fault isolation Pending CN107491848A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102681442A (en) * 2012-05-28 2012-09-19 上海海事大学 Intelligent fault-tolerant control system and control method for zonal power distribution of full-electric boat
US20150140986A1 (en) * 2013-11-15 2015-05-21 Broadcom Corporation Auxiliary Channel Remote Device Management, Diagnostics, and Self-Installation
CN106875063A (en) * 2017-02-21 2017-06-20 集美大学 A kind of dynamic positioning ship energy management optimization method
CN107145961A (en) * 2017-03-24 2017-09-08 南京邮电大学 A kind of tour schedule planing method based on improved adaptive GA-IAGA

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102681442A (en) * 2012-05-28 2012-09-19 上海海事大学 Intelligent fault-tolerant control system and control method for zonal power distribution of full-electric boat
US20150140986A1 (en) * 2013-11-15 2015-05-21 Broadcom Corporation Auxiliary Channel Remote Device Management, Diagnostics, and Self-Installation
CN106875063A (en) * 2017-02-21 2017-06-20 集美大学 A kind of dynamic positioning ship energy management optimization method
CN107145961A (en) * 2017-03-24 2017-09-08 南京邮电大学 A kind of tour schedule planing method based on improved adaptive GA-IAGA

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Application publication date: 20171219