CN109343353A - A kind of intelligent optimization method for the distribution of dynamic positioning ship thrust - Google Patents
A kind of intelligent optimization method for the distribution of dynamic positioning ship thrust Download PDFInfo
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- CN109343353A CN109343353A CN201811543078.2A CN201811543078A CN109343353A CN 109343353 A CN109343353 A CN 109343353A CN 201811543078 A CN201811543078 A CN 201811543078A CN 109343353 A CN109343353 A CN 109343353A
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- 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
- G05B13/041—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 variable is automatically adjusted to optimise the performance
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Abstract
The intelligent optimization method of dynamic positioning ship thrust distribution of the present invention, this key technology is distributed for thrust in dynamic positioning system, based on Nonlinear Optimization Problem solution, the thrust distribution logic that ensure that dynamic positioning ship and redundancy setting rationally, can offset the environmental load of external time-varying and control the motion state of floating body.The method is of great significance to the good economy of entire dynamic positioning system and reliability.
Description
Technical field
The present invention relates to a kind of thrust distribution methods of dynamic positioning ship, more particularly to one kind to be used for dynamic positioning ship
The intelligent optimization method of thrust distribution.
Background technique
Compared to land resources and near-coastal resources, China's blue water is wide, and deep-ocean resource exploitation has a high potential.Currently,
Deep-sea has been increasingly becoming the prior development direction of china natural resources exploitation, and deep ocean work ship is increasing.Make for these deep-seas
Industry ship and all kinds of ocean platforms, due to the increase of operating water depth, traditional anchor chain mooring localization method has been difficult competent existing
Some work, it is poor there is stability the problems such as.It can ensure that the dynamic positioning technology of accurate positioning is come into being, become research
Hot spot.Currently, the thrust distribution method of existing dynamic positioning ship mainly has direct allocation algorithm, Pseudoinverse algorithm etc., these
Algorithm is simply direct, but the thrust distribution control for being unable to satisfy more sophisticated requires.A kind of intelligent optimal control side is needed at present
Method is applied to dynamic positioning ship thrust distribution system, while guaranteeing to meet actual requirement of engineering, reduces the complexity of calculating
Degree.
Summary of the invention
In order to solve the above technical problems, the present invention devises a kind of intelligent optimization for the distribution of dynamic positioning ship thrust
Method.
The present invention adopts the following technical scheme:
A kind of intelligent optimization method for the distribution of dynamic positioning ship thrust, by ship type parameter, objective function, constraint
Condition, optimization algorithm composition；
Above-mentioned ship type parameter, according to actual condition and control target, is established on the basis of the Given information of control object
Corresponding mathematical model；
Above-mentioned objective function, under the premise of meeting otherwise requirement, emphasis considers the economy of the energy consumption of thruster
Property, guarantee that the output energy consumption of thruster is in reduced levels；
Above-mentioned objective function can be write as:
In formula:
N: thruster number；x2i-1: the longitudinal force of thruster；x2i: the cross force of thruster；
Above-mentioned constraint condition can be divided into equality constraint and inequality constraints；
Above-mentioned constraint condition, first group of inequality constraints are that the maximum thrust of each thruster limits；
Above-mentioned constraint condition, second group of inequality constraints is from the constraint for forbidding angle α；It is so-called that forbid angle be exactly to comprehensive
Thruster setting unit forbids operating angle region to avoid severe jamming；Angle is forbidden to require specified angle region in setting
Lower limit (αl,i) and the upper limit (αu,i)；
Above-mentioned constraint condition can be write as:
Above-mentioned optimization algorithm mainly carries out intelligent thrust with genetic algorithm, compound method, augmented vector approach
Distribution method.
The beneficial effects of the present invention are: the intelligent optimization method of dynamic positioning ship thrust distribution of the present invention, needle
This key technology is distributed to thrust in dynamic positioning system, Nonlinear Optimization Problem solution is based on, ensure that dynamic positioning
The thrust distribution logic of ship and redundancy setting rationally, can offset the environmental load of external time-varying and control the movement shape of floating body
State.The method is of great significance to the good economy of entire dynamic positioning system and reliability.
Detailed description of the invention
Fig. 1 is the full circle swinging thruster arrangement of semisubmersible platform of the invention；
Fig. 2 is flow chart of the invention；
Specific embodiment
Below by specific embodiment, and in conjunction with attached drawing, technical scheme of the present invention is further described:
Embodiment: it is illustrated with reference to Fig. 1 the full circle swinging thruster arrangement of semisubmersible platform of the present invention.In power
In position fixing process, control system can issue a series of thrust command, form the push system of a time-varying, external to offset
The environmental load of time-varying and the motion state for controlling floating body.These thrust commands include a total longitudinal force, a total cross
Moment of flexure is shaken to thrust and a total head.The executing agency of thrust command is entire push system, it is generally by multiple thrusters
Composition, therefore thrust command needs to be assigned to each thruster, and dynamic positioning is completed with them, this relates to thrust point
With the problem of.Reasonable thrust distribution logic and redundancy setting are selected, to the good economy of entire dynamic positioning system and can
It is of great significance by property.Although full circle swinging thruster can do 360 ° of rotations around main shaft, in order to avoid between thruster
It interferes with each other, the rotation angle of each thruster has a limitation, that is, forbids angle.
Referring to Fig. 2, illustrate that dynamic positioning ship thrust smart allocation method main flow of the invention is as follows:
Step1: judging the current present position of ship and coordinate according to the actual situation, judges the affiliated quadrant of target propulsive force；
Step2: the rotation angle of thruster is determined
Step3: the mathematical model of thrust distribution is established, including objective function and constraint condition；
Above-mentioned objective function, using dynamic positioning system minimal power consumption as target, objective function are as follows:
In formula:
N: thruster number；x2i-1: the longitudinal force of thruster；x2i: the cross force of thruster；
Above-mentioned constraint condition can be divided into equality constraint and inequality constraints.Equality constraint mainly includes that three directions are (vertical
To, transverse direction and yawing torque direction) on thrust equation；What the thrust (square) that i.e. thruster generates will be calculated with controller
It is required that thrust command and torque command are equal:
In formula, ly,iAnd lx,iRespectively vertical and horizontal distance of the thruster to platform rotation center；
First group of inequality constraints is that the maximum thrust of each thruster limits:
Second group of inequality constraints is from the constraint for forbidding angle α.It is so-called that forbid angle be exactly to comprehensive thruster setting unit
Dividing forbids operating angle region to avoid severe jamming.Angle is forbidden to require the lower limit (α in specified angle region in settingl,i) and
The upper limit (αu,i), so that inequality constraints can be written as follow form:
Step4: it is solved using augmented vector approach；
Step5: the result that optimization algorithm is obtained is converted to control instruction, reasonably distributes to puopulsion equipment；
Step6: determining final control requirement, terminate if reaching requirement, recalculates if not up to requiring.
Above-mentioned embodiment is only a preferred solution of the present invention, not the present invention is made in any form
Limitation, there are also other variations and modifications on the premise of not exceeding the technical scheme recorded in the claims.
Claims (1)
1. a kind of intelligent optimization method for the distribution of dynamic positioning ship thrust, characterized in that it is by ship type parameter, target letter
Number, constraint condition, optimization algorithm composition；
Above-mentioned ship type parameter, according to actual condition and control target, is established corresponding on the basis of the Given information of control object
Mathematical model；
Above-mentioned objective function, under the premise of meeting otherwise requirement, emphasis considers the economy of the energy consumption of thruster, protects
The output energy consumption of card thruster is in reduced levels；
Above-mentioned objective function can be write as:
In formula:
N: thruster number；x2i-1: the longitudinal force of thruster；x2i: the cross force of thruster；
Above-mentioned constraint condition can be divided into equality constraint and inequality constraints；
Above-mentioned constraint condition, first group of inequality constraints are that the maximum thrust of each thruster limits；
Above-mentioned constraint condition, second group of inequality constraints is from the constraint for forbidding angle α；It is so-called that forbid angle be exactly to comprehensive thrust
Device setting unit forbids operating angle region to avoid severe jamming；Angle is forbidden to require the lower limit in specified angle region in setting
(αl,i) and the upper limit (αu,i)；
Above-mentioned constraint condition can be write as:
Above-mentioned optimization algorithm mainly carries out intelligent thrust distribution with genetic algorithm, compound method, augmented vector approach
Method.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224359A (en) * | 2020-08-05 | 2021-01-15 | 智慧航海（青岛）科技有限公司 | Ship power distribution method capable of being used in different navigational speed modes |
| CN112394641A (en) * | 2020-11-25 | 2021-02-23 | 哈尔滨工程大学 | Ship real-time thrust distribution method based on double-thread parallel computation |
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|---|---|---|---|---|
| CN112224359A (en) * | 2020-08-05 | 2021-01-15 | 智慧航海（青岛）科技有限公司 | Ship power distribution method capable of being used in different navigational speed modes |
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| CN112394641A (en) * | 2020-11-25 | 2021-02-23 | 哈尔滨工程大学 | Ship real-time thrust distribution method based on double-thread parallel computation |
| CN112394641B (en) * | 2020-11-25 | 2023-09-29 | 哈尔滨工程大学 | Ship real-time thrust distribution method based on double-linear parallel computing |
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