CN108459504A - The cooperative self-adapted iterative learning control method of multipoint mooring - Google Patents
The cooperative self-adapted iterative learning control method of multipoint mooring Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention provides a kind of cooperative self-adapted iterative learning control method of multipoint mooring, including：System initialization obtains design parameter and process variable parameter；Design parameter and process variable parameter are updated in multi-buoy mooring system kinetic model, judge whether position tracking error meets the requirements, if be unsatisfactory for, adaptive iteration study breathing crack rule is learnt, until position tracking error is met the requirements, such continuous iterative cycles, make multi-buoy mooring system be moved according to mooring ideal trajectory.The cooperative self-adapted iterative learning control method of multipoint mooring provided by the invention has the following advantages：Multipoint mooring cooperative control system uses open-closed-loop iterative learning control, has load feedforward and Real-time Feedback, improves dynamic rapidity and static accuracy, stability height is, it can be achieved that be accurately positioned multi-buoy mooring system；In addition, algorithm implementation complexity is low.
Description
Technical field
The invention belongs to Naval Architecture and Ocean Engineering technical fields, and in particular to a kind of cooperative self-adapted iteration of multipoint mooring
Practise control method.
Background technology
Floating ocean platform includes drillship and semisubmersible platform, adapts to marine drilling regional environment and safety, at
This is relatively low, meets three conditions of every job requirements such as drilling well, oil recovery and test.Floating ocean platform is extremely quick to stormy waves stream
Sense, stability are poor, are forced downtime ratio height, therefore, floating marine (ship) platform needs positioning system.
Multi-buoy mooring system is developed for offshore oil gas, is positioned for floating ocean platform, is largely used.Floating marine
Platform location measure also has the alignment by union pattern of DP dynamic positionings, DP+ moorings, but DP positioning costs are high, it is complicated to safeguard, DP behaviour
Work person is costly, DP operation costs are high, and DP energy consumptions are big and effect is poor under the sea situation of bad environments；On the other hand, offshore oil
Gas field development expense increases with the depth of water and is increased, and the development cost of depth of water 30m are 1 times higher than land oil field, the exploitation of depth of water 180m
Expense is 1~2.5 times higher than land oil field, and the development cost of depth of water 300m are 2~8 times higher than land oil field；Anchoring system adapts to water
Deep range is big, resistance marine environment ability is strong, and the economic performance under certain condition is good, it therefore meets floating ocean platform is wanted
Under the premise of asking, multi-buoy mooring system should be preferred.
Multipoint mooring can well adapt to marine environment, can not only limit linear motion and the rotary motion of floating body, moreover it is possible to
The displacement of realization system and location control, and it is with obvious effects at energy saving aspect, it is wide to be applied on drillship, working ship
It is general.Tension type anchoring system than the saving material of catenary, occupy that sea bed area is few, payload loses small, stationkeeping ability
By force.Mooring cable of the multi-buoy mooring system in profundal zone passes through side of a ship side bottom fairleader to main deck chain stopper, and what it is in phytal zone is
Pool chain is directly gone on board to main deck chain stopper, and hoisting way divides anchor winch formula, mooring winch formula, hydraulic cylinder type, wherein frequency conversion
The mooring winch of motor-retarder driving has preferable rapidity and economy.Flexible mooring line cannot transmit moment of flexure also not
It bears to shear, using Static and dynamic analysis analytic approach；But marine environment load effect under mooring line creep-recovery characteristic,
Pine-tight nonlinear mechanicses characteristic and the anchoring system such as relationship and hysteretic characteristic, stiffness characteristics, overstrain and fatigue life characteristic
Control performance is directly related.
Positioning-shifting berth of floating ocean platform mostly uses multi-buoy mooring system, and multi-buoy mooring system control algolithm is shadow
Ring the core technology of positioning performance.Existing all kinds of control algolithms generally have locating effect is limited and algorithm is complicated etc. to ask
Topic.
Invention content
In view of the defects existing in the prior art, the present invention provides a kind of cooperative self-adapted iterative learning controlling party of multipoint mooring
Method can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of cooperative self-adapted iterative learning control method of multipoint mooring, includes the following steps：
Step 1, system initialization：
Iterations k=0, iteration run time section t ∈ [0, T] are enabled, during current iteration, obtains following design
Parameter：The quality m of multi-buoy mooring system, moored float structure length b, moored float structure width d, moored float structural damping
C, mooring line rigidity k', hydrodynamic force viscous drag λ, multi-buoy mooring system additional mass μ, water quality density p；
Real-time sampling is to following procedure variable parameter：Moored float System drainage amountThe position of multi-buoy mooring system movement
Move X, multi-buoy mooring system movement velocityMulti-buoy mooring system acceleration of motionSystematic error and stormy waves flow disturbance power τ；
Wave flow accelerationCurrent speed u0, velocity of wave translation u1, wave frequencies ω and wave amplitude a；
Given moored float position target value yd(t) and initial controlled quentity controlled variable Γ0(t)；
The initial value of learning gains factor alpha, β and Ψ is enabled to take 1；
Step 2, multi-buoy mooring system kinetic model is established：
Wherein：
U=u0+u1sin(ωt)
u1=u1(a,ω)
Wherein：U (t) is the time-varying function of wave flow speed, and t is the time；
R (X) is the recuperability R of mooring line；
Sgn (X) is sign function：If X>0, then sgn (X)=1；If X=0, sgn (X)=0；If X<0, then sgn (X)
=-1；
Γk(t) when iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor, in order to control
Amount；
Step 3, the design parameter of step 1 and process variable parameter are updated to the multi-buoy mooring system dynamics of step 2
In model, Γ is obtainedk(t)；
By Γk(t) it is sent to multi-buoy mooring system, changes the position of multi-buoy mooring system, sampling obtains moored float reality
Positional value yk(t)；
Step 4, position tracking error e when kth time iteration is calculatedk(t)：
ek(t)=yd(t)-yk(t)
Step 5, judge ek(t) whether meet following relationship：
ek(t)≤(3~5) %H
Wherein：H- anchoring system operating depths；
If it is satisfied, then current iteration terminates, k=k+1 is enabled, returns to step 3；If conditions are not met, executing step 6；
Step 6, design adaptive iteration study breathing crack rule：
Wherein：
α, β, Ψ are the learning gains coefficient of value [0,1]；
KpFor proportional gain；
KdFor the differential gain；
Xd(t) it is the displacement of mooring ideal trajectory；
Xk+1(t) be+1 iteration of kth when, mooring along disturbance force direction drift displacement；
For mooring ideal trajectory speed；
For+1 iteration of kth when, mooring along disturbance force direction drift velocity；
Γk+1(t)：For+1 iteration of kth when, mooring winch motor control torque under mooring line tension；
Γk(t)：When iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor；
ek(t)：Position tracking error when iteration secondary for kth；ek(t)=yd(t)-yk(t)；Wherein, yd(t) floating for mooring
The given position target value of body；yk(t) it is moored float actual position value；
ek+1(t)：For+1 iteration of kth when position tracking error；
ζ[ek+1(t)] when being kth time iteration, ek(t) the output error correction term of mooring line tension needed for；
ζ[ek+1(t)] when being+1 iteration of kth, ek+1(t) the output error correction term of mooring line tension needed for；
By learning gains factor alpha, the initial value of β, Ψ, KpAnd KdAdaptive iteration study breathing crack rule is substituted into, to adaptive
Iterative learning breathing crack rule is answered to be learnt, study obtains new α, β, Ψ, KpAnd KdValue, make multipoint mooring kth+1 time
Site error [the e of movementk+1(t)] it reduces, α, β, Ψ, K at this timepAnd KdIt is opened as control parameter update adaptive iteration study
Closed-loop control is restrained, and new adaptive iteration study breathing crack rule is thus obtained, and current iteration terminates, enables k=k+1, return
Execute step 3；Such continuous iterative cycles, make multi-buoy mooring system be moved according to mooring ideal trajectory.
Preferably, in step 6, breathing crack rule is learnt according to following rule：
If ek(t)=0, then reduce α while increasing β, and alpha+beta=1, make differential gain Kd=0；
If ek(t) ≠ 0, only increase differential gain Kd；
If when+1 iteration of kth, there is ek+1(t) increase, then KpAnd KdAll increase, β reduces, while increasing Ψ, and Ψ+β
=1；
If when+1 iteration of kth, there is ek+1(t) reduce, then control parameter is constant.
The cooperative self-adapted iterative learning control method of multipoint mooring provided by the invention has the following advantages：
Multipoint mooring cooperative control system uses open-closed-loop iterative learning control, has load feedforward and Real-time Feedback, carries
High dynamic rapidity and static accuracy, stability height is, it can be achieved that be accurately positioned multi-buoy mooring system；In addition, algorithm is realized again
Miscellaneous degree is low.
Description of the drawings
Fig. 1 is the flow diagram of the cooperative self-adapted iterative learning control method of multipoint mooring provided by the invention.
Fig. 2 show multi-buoy mooring system structure and composition frame chart.
Specific implementation mode
In order to make the technical problems, technical solutions and beneficial effects solved by the present invention be more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
Iterative learning control is to handle the most effective control for the multi-buoy mooring system control problem that reruns in finite interval
One of method runs repeated feature using multi-buoy mooring system, designs multipoint mooring control system, make Control platform with repeatedly
The increase of generation number and promoted, be finally reached expected location control effect.
Iterative learning control using multi-buoy mooring system history run control loop (Iteration/Cycle/Trial, one
As be known as iteration) in measure and the output error information that stores and control input information are defeated come the control for updating correction previous cycle
Enter, and positioning accuracy is constantly improved by reruning for multipoint mooring control system, the system output finally realized is missed
Difference is along the asymptotic convergence (Asymptotic Convergence) of iteration axis and along the perfect tracking of time shaft.
The target of iterative learning control is the perfect tracking in finite time interval [0, T] to output, multipoint mooring system
The transient state of output of uniting and stable state are all consistent with target trajectory completely；Multipoint mooring floating platform is nonlinear system；Design
Method both may be based on the design of model, can also be the design of data-driven；Meanwhile it can be managed with any advanced mainstream control
By or method be combined, such as self adaptive control, faults-tolerant control, Kalman filtering cooperate to have complementary advantages.
Adaptive iterative learning control method (Adaptive iterative learning control, AILC) can fill
Point using multi-buoy mooring system prior information, in controller unknown learning gains and system uncertain parameter be carried out at the same time
Adaptive learning updates and correction；Self adaptive control is the amendment to multi-buoy mooring system parameter, and iterative learning is defeated to controlling
The amendment entered, the two cooperate.Therefore, the cooperative self-adapted iterative learning control method of multipoint mooring provided by the invention has
Important realistic meaning and application value.
More variable-frequency motors-retarder redundant actuation system of multipoint mooring has big system hybrid characters, conjunction coupling special
Property, nonlinear uncertain time lag time-varying characteristics, there are fixed topology and switching topology, model uncertainty, external disturbance and
Communication noise, the harmful effects such as uncertain, modeling error of state hysteresis, network time service, system time-varying parameter, therefore, the present invention
A kind of cooperative self-adapted iterative learning control method of multipoint mooring is provided, Fig. 1 show the cooperative self-adapted iteration of multipoint mooring
Practise control flow chart；Fig. 2 show multi-buoy mooring system structure and composition frame chart.Wherein, HMI- touch screens, PLC- is programmable to patrol
Collect controller, Profinet- fieldbus.
With reference to figure 1, the cooperative self-adapted iterative learning control method of multipoint mooring includes the following steps：
Step 1, system initialization：
Iterations k=0, iteration run time section t ∈ [0, T] are enabled, during current iteration, obtains following design
Parameter：The quality m of multi-buoy mooring system, moored float structure length b, moored float structure width d, moored float structural damping
C, mooring line rigidity k', hydrodynamic force viscous drag λ, multi-buoy mooring system additional mass μ, water quality density p；
Real-time sampling is to following procedure variable parameter：Moored float System drainage amountThe displacement of multi-buoy mooring system movement
X, multi-buoy mooring system movement velocityMulti-buoy mooring system acceleration of motionSystematic error and stormy waves flow disturbance power τ；Wave
Unrestrained flow accelerationCurrent speed u0, velocity of wave translation u1, wave frequencies ω and wave amplitude a；
Given moored float position target value yd(t) and initial controlled quentity controlled variable Γ0(t)；
Moored float position target value yd(t) it is the multi-buoy mooring system desired trajectory to be tracked.
The initial value of learning gains factor alpha, β and Ψ is enabled to take 1；
Step 2, multi-buoy mooring system kinetic model is established：The model is multipoint mooring (surging, swaying, heaving, cross
Shake, pitching and yawing) Nonlinear Equations of Motion of diversity movement.
Wherein：
U=u0+u1sin(ωt)
u1=u1(a,ω)
Wherein：U (t) is the time-varying function of wave flow speed, and t is the time；
R (X) is the recuperability R of mooring line；
Sgn (X) is sign function：If X>0, then sgn (X)=1；If X=0, sgn (X)=0；If X<0, then sgn (X)
=-1；
Γk(t) when iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor, in order to control
Amount；
Step 3, the design parameter of step 1 and process variable parameter are updated to the multi-buoy mooring system dynamics of step 2
In model, Γ is obtainedk(t)；
By Γk(t) it is sent to multi-buoy mooring system, changes the position of multi-buoy mooring system, sampling obtains moored float reality
Positional value yk(t)；
Step 4, position tracking error e when kth time iteration is calculatedk(t)：
ek(t)=yd(t)-yk(t)
Step 5, judge ek(t) whether meet following relationship：
ek(t)≤(3~5) %H
Wherein：H- anchoring system operating depths；
If it is satisfied, then current iteration terminates, k=k+1 is enabled, returns to step 3；If conditions are not met, executing step 6；
Step 6, design adaptive iteration study breathing crack rule：
Wherein：
α, β, Ψ are the learning gains coefficient of value [0,1]；
KpFor proportional gain；
KdFor the differential gain；
Xd(t) it is the displacement of mooring ideal trajectory；
Xk+1(t) be+1 iteration of kth when, mooring along disturbance force direction drift displacement；
For mooring ideal trajectory speed；
For+1 iteration of kth when, mooring along disturbance force direction drift velocity；
Γk+1(t)：For+1 iteration of kth when, mooring winch motor control torque under mooring line tension；
Γk(t)：When iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor；
ek(t)：Position tracking error when iteration secondary for kth；ek(t)=yd(t)-yk(t)；Wherein, yd(t) floating for mooring
The given position target value of body；yk(t) it is moored float actual position value；
ek+1(t)：For+1 iteration of kth when position tracking error；
ζ[ek+1(t)] when being kth time iteration, ek(t) the output error correction term of mooring line tension needed for；
ζ[ek+1(t)] when being+1 iteration of kth, ek+1(t) the output error correction term of mooring line tension needed for；
By learning gains factor alpha, the initial value of β, Ψ, KpAnd KdAdaptive iteration study breathing crack rule is substituted into, to adaptive
Iterative learning breathing crack rule is answered to be learnt, study obtains new α, β, Ψ, KpAnd KdValue, make multipoint mooring kth+1 time
Site error [the e of movementk+1(t)] it reduces, α, β, Ψ, K at this timepAnd KdIt is opened as control parameter update adaptive iteration study
Closed-loop control is restrained, and new adaptive iteration study breathing crack rule is thus obtained, and current iteration terminates, enables k=k+1, return
Execute step 3；Such continuous iterative cycles, make multi-buoy mooring system be moved according to mooring ideal trajectory.
In step 6, breathing crack rule is learnt according to following rule：
If ek(t)=0, then reduce α while increasing β, and alpha+beta=1, make differential gain Kd=0；
If ek(t) ≠ 0, only increase differential gain Kd；
If when+1 iteration of kth, there is ek+1(t) increase, then KpAnd KdAll increase, β reduces, while increasing Ψ, and Ψ+β
=1；
If when+1 iteration of kth, there is ek+1(t) reduce, then control parameter is constant.
In the present invention, the task of iterative learning is by learning design of control law Γk+1(t), make+1 kinematic error of kth
ek+1(t) it reduces, then feedback iteration study control law is：
Meet primary condition：xk(0)=xd(0), k=0,1,2 ...
Original state when system each run is in the corresponding original state of desired trajectory.
Embodiment：
As depicted in figs. 1 and 2：Before platform reaches well location, the ship for measuring accommodation should be undertaken by another, according to platform
Ship's head puts location buoy well, is first to mark and anchor position mark, if wind is blown from platform right front, after platform enters well site, 1
On the How is chain leading of number anchor, No. 1 anchor is thrown lower as casting anchor temporarily, then sequentially No. 2, No. 4 and No. 8 anchors throwings are existed by workboat
Defined anchor position.Then No. 1 anchor is played, No. 1 anchor is moved on under defined anchor position throwing.Again sequentially with workboat by No. 5, No. 3, No. 6
It is thrown in defined anchor position with No. 7 anchors.After all anchors are thrown, workboat leaves platform, carries out grip experiment, is next exactly platform
It is loaded to work drinking water (20 meters), anchor chain is then tensed according to the depth of water.
If wind is blown from platform left front, need to be cast anchor temporarily in No. 8 How is chain leading works with No. 8 anchors, then by work
Make ship sequentially to throw No. 7, No. 5 and No. 1 anchors, throws No. 8 anchors again, then No. 4, No. 6, No. 3 and No. 2 anchors are thrown.All anchors are thrown
After, carry out grip experiment, ballast and tension anchor chain.
If wind is laterally blown from right side, applies No. 2 anchor works to cast anchor temporarily first, then throw No. 3, No. 1, No. 4, No. 5
With No. 8 anchors, No. 2 anchors are then thrown again, then throw No. 6 and No. 7 anchors.After all anchors are thrown, grip experiment is carried out, ballast sinks and tenses
Anchor chain.
If wind is laterally blown from left side, applies No. 7 anchor works to cast anchor temporarily first, then throw No. 6, No. 8, No. 5, No. 4
With No. 1 anchor, No. 7 anchors are thrown again, then throw No. 3 and No. 2 anchors.After all anchors are thrown, grip experiment is carried out, ballast sinks and connects tight anchor
Chain.
If wind should be cast anchor first with No. 4 anchor works from right back to blowing, then throw No. 3, No. 1 and No. 5, weight temporarily
No. 4 anchors are thrown, then sequentially throw No. 8, No. 2, No. 7 and No. 6 anchors, finally carry out grip experiment, ballast sinks and tension anchor chain.
If wind is blown from left back direction, after entering well site, it should first be cast anchor temporarily with No. 5 anchor works, then throw No. 6, No. 8
With No. 4 anchors, No. 5 anchors being thrown again, then sequentially throw No. 1, No. 7, No. 2 and No. 3 anchor, finally carrying out grip experiment, ballast sinks and tenses
Anchor chain.
In the drilling platforms course of work, due to the variation in the direction and size of wind and stream, cause ship displacement and anchor chain
The variation of tension, therefore, the cooperative self-adapted iterative learning control systems of multipoint mooring of the invention need often adjustment anchor
Chain.The principle for adjusting anchor chain should first loosen leeward anchor chain, then tighten windward anchor chain.When lee anchor chain all loosens, and
Windward anchorage tension be more than 1/3 rupture strength when, it should release windward anchor chain so that windward as far as possible by four anchor chains equably
Bearing load.
The present invention has the following advantages：
(1) all variable-frequency motors of multipoint moorings driving are the Collaborative Control of optical fiber ring network isochronous real-time Communication for Power；
(2) multipoint moorings cooperative control system uses open-closed-loop iterative learning control, has load feedforward and anti-in real time
Feedback improves dynamic rapidity and static accuracy；
(3) the cooperative self-adapted iterative learning control stability of multipoint moorings is high.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (2)
1. a kind of cooperative self-adapted iterative learning control method of multipoint mooring, which is characterized in that include the following steps：
Step 1, system initialization：
Iterations k=0, iteration run time section t ∈ [0, T] are enabled, during current iteration, obtains following design ginseng
Number：The quality m of multi-buoy mooring system, moored float structure length b, moored float structure width d, moored float structural damping c,
Mooring line rigidity k', hydrodynamic force viscous drag λ, multi-buoy mooring system additional mass μ, water quality density p；
Real-time sampling is to following procedure variable parameter：Moored float System drainage amountThe displacement X of multi-buoy mooring system movement is more
Point anchoring system movement velocityMulti-buoy mooring system acceleration of motionSystematic error and stormy waves flow disturbance power τ；Wave flow
AccelerationCurrent speed u0, velocity of wave translation u1, wave frequencies ω and wave amplitude a；
Given moored float position target value yd(t) and initial controlled quentity controlled variable Γ0(t)；
The initial value of learning gains factor alpha, β and Ψ is enabled to take 1；
Step 2, multi-buoy mooring system kinetic model is established：
Wherein：
U=u0+u1sin(ωt)
u1=u1(a,ω)
Wherein：U (t) is the time-varying function of wave flow speed, and t is the time；
R (X) is the recuperability R of mooring line；
Sgn (X) is sign function：If X>0, then sgn (X)=1；If X=0, sgn (X)=0；If X<0, then sgn (X)=- 1；
Γk(t) when iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor is measured in order to control；
Step 3, the design parameter of step 1 and process variable parameter are updated to the multi-buoy mooring system kinetic model of step 2
In, obtain Γk(t)；
By Γk(t) it is sent to multi-buoy mooring system, changes the position of multi-buoy mooring system, sampling obtains moored float actual position value
yk(t)；
Step 4, position tracking error e when kth time iteration is calculatedk(t)：
ek(t)=yd(t)-yk(t)
Step 5, judge ek(t) whether meet following relationship：
ek(t)≤(3~5) %H
Wherein：H- anchoring system operating depths；
If it is satisfied, then current iteration terminates, k=k+1 is enabled, returns to step 3；If conditions are not met, executing step 6；
Step 6, design adaptive iteration study breathing crack rule：
Wherein：
α, β, Ψ are the learning gains coefficient of value [0,1]；
KpFor proportional gain；
KdFor the differential gain；
Xd(t) it is the displacement of mooring ideal trajectory；
Xk+1(t) be+1 iteration of kth when, mooring along disturbance force direction drift displacement；
For mooring ideal trajectory speed；
For+1 iteration of kth when, mooring along disturbance force direction drift velocity；
Γk+1(t)：For+1 iteration of kth when, mooring winch motor control torque under mooring line tension；
Γk(t)：When iteration secondary for kth, the mooring line tension under the control torque of mooring winch motor；
ek(t)：Position tracking error when iteration secondary for kth；ek(t)=yd(t)-yk(t)；Wherein, yd(t) it is given for moored float
Fixed position target value；yk(t) it is moored float actual position value；
ek+1(t)：For+1 iteration of kth when position tracking error；
ζ[ek+1(t)] when being kth time iteration, ek(t) the output error correction term of mooring line tension needed for；
ζ[ek+1(t)] when being+1 iteration of kth, ek+1(t) the output error correction term of mooring line tension needed for；
By learning gains factor alpha, the initial value of β, Ψ, KpAnd KdAdaptive iteration study breathing crack rule is substituted into, to adaptively changing
Generation study breathing crack rule is learnt, and study obtains new α, β, Ψ, KpAnd KdValue, make the movement of multipoint mooring kth+1 time
Site error [ek+1(t)] it reduces, α, β, Ψ, K at this timepAnd KdLearn Open-closed-loop as control parameter update adaptive iteration
Control law, thus obtains new adaptive iteration study breathing crack rule, and current iteration terminates, enables k=k+1, return and execute
Step 3；Such continuous iterative cycles, make multi-buoy mooring system be moved according to mooring ideal trajectory.
2. the cooperative self-adapted iterative learning control method of a kind of multipoint mooring according to claim 1, which is characterized in that step
In rapid 6, breathing crack rule is learnt according to following rule：
If ek(t)=0, then reduce α while increasing β, and alpha+beta=1, make differential gain Kd=0；
If ek(t) ≠ 0, only increase differential gain Kd；
If when+1 iteration of kth, there is ek+1(t) increase, then KpAnd KdAll increase, β reduces, while increasing Ψ, and+β=1 Ψ；
If when+1 iteration of kth, there is ek+1(t) reduce, then control parameter is constant.
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| CN110304200A (en) * | 2019-07-16 | 2019-10-08 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | 3 anchoring systems and analysis method for phytal zone ship's fix operation |
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| CN113406884A (en) * | 2021-06-03 | 2021-09-17 | 上海海事大学 | Sliding mode self-adaptation-based multi-point mooring system positioning control method |
| CN116627043A (en) * | 2023-07-24 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Regional power positioning control method of combined anchoring system |
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| CN109871609A (en) * | 2019-02-18 | 2019-06-11 | 中国海洋大学 | The prediction technique that marine floating type platform mooring system is responded based on BP-FEM |
| CN110110711A (en) * | 2019-06-06 | 2019-08-09 | 郑州轻工业学院 | A kind of iterative learning control systems input signal estimation method under noisy communication channel |
| CN110110711B (en) * | 2019-06-06 | 2021-06-04 | 郑州轻工业学院 | Iterative learning control system input signal estimation method under noise channel |
| CN110304200A (en) * | 2019-07-16 | 2019-10-08 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | 3 anchoring systems and analysis method for phytal zone ship's fix operation |
| CN112230566A (en) * | 2020-10-29 | 2021-01-15 | 哈尔滨工程大学 | Unpowered floating body cooperative positioning control method using multi-surface ship |
| CN112230566B (en) * | 2020-10-29 | 2023-05-05 | 哈尔滨工程大学 | Unpowered floating body cooperative positioning control method using multi-surface ship |
| CN113406884A (en) * | 2021-06-03 | 2021-09-17 | 上海海事大学 | Sliding mode self-adaptation-based multi-point mooring system positioning control method |
| CN116627043A (en) * | 2023-07-24 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Regional power positioning control method of combined anchoring system |
| CN116627043B (en) * | 2023-07-24 | 2023-09-15 | 中国船舶集团有限公司第七〇七研究所 | Regional power positioning control method of combined anchoring system |
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