CN114035585B - Power positioning self-adaptive control system and method for semi-submersible carrying equipment - Google Patents
Power positioning self-adaptive control system and method for semi-submersible carrying equipment Download PDFInfo
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- CN114035585B CN114035585B CN202111374931.4A CN202111374931A CN114035585B CN 114035585 B CN114035585 B CN 114035585B CN 202111374931 A CN202111374931 A CN 202111374931A CN 114035585 B CN114035585 B CN 114035585B
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Abstract
The invention discloses a power positioning self-adaptive control system and a power positioning self-adaptive control method for semi-submersible carrying equipment, wherein the system comprises a positioning instruction unit, a sea condition wind wave flow measuring unit, a ship actual position and heading measuring unit, a sea condition changing self-adaptive learning optimization control module, a ship motion state feedback supervision control module, a thrust distribution unit and a ship propulsion system; the ship motion state feedback monitoring control module analyzes the ship position deviation and the heading deviation, performs negative feedback control on the ship position and the heading, and transmits the deviation analysis data to the sea condition-variable self-adaptive learning optimization control module; the sea condition changing self-adaptive learning optimization control module is used for carrying out self-adaptive parameter adjustment by using ship position deviation, heading deviation and storm flow real-time data, and outputting a longitudinal control force instruction and a transverse control force instruction after operation; the thrust distribution unit and the ship propulsion system receive control signals of the ship motion state feedback supervision control module and the sea state changing self-adaptive learning optimization control module, and control the ship propulsion system to operate through a distribution algorithm, so that a dynamic positioning function is realized.
Description
Technical Field
The invention relates to the technical field of power positioning control, in particular to a power positioning self-adaptive control system and method for semi-submersible carrying equipment.
Background
The semi-submersible carrying equipment (semi-submersible ship) has a spacious and barrier-free cargo loading deck, can load, unload and transport large-size and ultra-heavy marine structures, cargos and the like in a rolling or floating and submerging mode, and has a position incomparable with a conventional ship. The particularity of the operation of the semi-submersible carrying equipment determines that the requirements on dynamic positioning accuracy are much higher than those of a conventional ship. However, the semi-submersible carrying equipment has huge self body, a plurality of working conditions of submerging and surfacing, large variation of ship draught, different shapes of loaded goods, different sea conditions and different working conditions, larger difference of the acting force of wind, wave and current and variability of a hydrodynamic model. The conventional dynamic positioning control algorithm mainly focuses on research in the aspect of control theory, the core of the conventional dynamic positioning control algorithm is based on deviation feedback control, the influence of the variability of a fluid mechanics model is less considered from the viewpoint of dynamics, and the optimization of control parameters also rarely involves the adjustment of fluid mechanics parameters. Particularly under complex sea conditions, the semi-submersible carrying equipment is greatly influenced by wind, wave and flow, the conventional feedback control algorithm is difficult to meet the requirement of the semi-submersible carrying equipment on power positioning control precision, and the conditions of slow system response and unsatisfactory positioning effect exist. With the advance of the deep and far sea strategy of the country, the operation sea condition of the semi-submersible carrying equipment is worse, so that the objective requirements on how to further consider the influence on the aspect of dynamics, increase the self-adaptive adjustment function of the system fluid mechanics parameters, improve the adaptability of the semi-submersible carrying equipment to the severe sea condition and the like are met.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a power positioning self-adaptive control system and a power positioning self-adaptive control method for semi-submersible carrying equipment, wherein the system and the method adaptively adjust and optimize hydrodynamic parameters according to wind, wave and flow information measured on site, overcome the defects of the traditional feedback control, and have the advantages of high response speed, good adaptability to severe sea conditions, high positioning precision and the like.
The idea of the invention is as follows: the semi-submersible carrying equipment power positioning self-adaptive control system mainly comprises two core parts, namely a variable sea condition self-adaptive learning optimization control module and a ship motion state feedback supervision control module, wherein the variable sea condition self-adaptive learning optimization control module has the functions of adaptively adjusting and optimizing hydrodynamic parameters according to wind wave flow information measured on site, a dimensionless parameter calculation method is adopted to calculate the longitudinal control force and the transverse control force required by the semi-submersible carrying equipment to resist the wind wave flow, and the thrust distribution unit is used for directly controlling the rotation of each propeller of a ship propelling system to generate required thrust to resist the external disturbance force, so that the power positioning function is realized. The ship motion state feedback monitoring control module is an effective supplement of the sea condition changing self-adaptive learning optimization control module, and generates a control signal according to the positioning position deviation and the heading deviation so as to correct the control deviation of the sea condition changing self-adaptive learning optimization control module and further improve the positioning accuracy of the system. The ship motion state feedback supervision control module has the functions of position deviation analysis and heading deviation analysis, analysis data are transmitted to the sea condition changing self-adaptive learning optimization control module, and the sea condition changing self-adaptive learning optimization control module adaptively adjusts system parameters by taking the transmitted position deviation and heading deviation as optimization targets. The invention adopts two large control modules, and one control module realizes the dynamic positioning function of the semi-submersible carrying equipment by force balance from the aspect of dynamics; and the other one is from the control theory, the positioning is realized directly through deviation control, and the advantages of the two are complementary.
The purpose of the invention is realized by the following technical scheme:
a semi-submersible vehicle rig power positioning adaptive control system, comprising:
the system comprises a positioning instruction unit, a sea condition wind wave flow measuring unit, a ship actual position and heading measuring unit, a variable sea condition self-adaptive learning optimization control module, a ship motion state feedback supervision control module, a thrust distribution unit and a ship propulsion system; the above-mentioned
The positioning instruction unit is used for giving position and heading positioning information according to a positioning mode and a positioning requirement by a user;
the sea condition wind, wave and current measuring unit is used for measuring the information of wind, wave and current sea conditions;
the actual position and heading measuring unit of the ship is used for measuring the actual position and actual heading information of the ship;
the ship motion state feedback monitoring control module is used for analyzing ship position deviation and heading deviation, performing negative feedback control on the ship position and heading, and transmitting the deviation analysis data to the sea condition-variable self-adaptive learning optimization control module;
the sea condition changing self-adaptive learning optimization control module is used for carrying out self-adaptive parameter adjustment by using ship position deviation, heading deviation and storm flow real-time data, and outputting a longitudinal control force instruction and a transverse control force instruction after operation;
the thrust distribution unit and the ship propulsion system are used for receiving control signals of the ship motion state feedback supervision control module and the sea state changing self-adaptive learning optimization control module and controlling the operation of the ship propulsion system through a distribution algorithm.
A power positioning self-adaptive control method for a semi-submersible carrying device comprises the following steps:
establishing a system hydrodynamic parameter library and a system wind acting force parameter library through computational fluid dynamics simulation calculation and a ship model test;
setting position and heading positioning information according to the positioning mode and the positioning requirement;
collecting wind wave flow data;
according to the collected wind wave flow data, self-adaptively applying corresponding longitudinal stress coefficients and transverse stress coefficients from a hydrodynamic parameter library and a wind acting force parameter library, and calculating longitudinal control force output and transverse control force output required for resisting the wind wave flow;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
acquiring actual position information and heading information of a ship, comparing the actual position information and the heading information with given position and heading information, and analyzing position and heading deviation data;
according to the position and heading deviation data, a hydrodynamic force and wind acting force parameter library is self-learned and optimized, and the output proportionality coefficient of longitudinal control force and transverse control force is adjusted;
calling a position supervision control algorithm and a heading supervision control algorithm according to the position and heading deviation data;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
judging whether the user stops the power positioning function or not, if not, continuing to collect storm flow data and entering a new cycle; if yes, the process is ended.
One or more embodiments of the present invention may have the following advantages over the prior art:
because a control method combining sea condition-changing self-adaptive learning optimization control and ship motion state feedback supervision control is adopted, the dynamic positioning of the semi-submersible carrying equipment is realized through stress balance from the aspect of dynamics, and the semi-submersible carrying equipment has the characteristic of quick response; the other one realizes positioning through deviation feedback control from the control theory angle, and has the advantages of stability and reliability; the advantages of the two methods are combined and complemented, so that the method has better adaptability and higher control precision under severe sea conditions compared with the traditional dynamic positioning control method.
Drawings
FIG. 1 is a block diagram of a semi-submersible vehicle power positioning adaptive control system;
FIG. 2 is a block diagram of the input-output relationship of a thrust distribution unit;
FIG. 3 is a schematic plan view of a semi-submersible vehicle propulsion system;
FIG. 4 is a flow diagram of a semi-submersible vehicle power positioning adaptive control process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings.
As shown in FIG. 1, the power positioning self-adaptive control system for the semi-submersible vehicle equipment comprises
The system comprises a positioning instruction unit, a sea condition wind wave flow measuring unit, a ship actual position and heading measuring unit, a variable sea condition self-adaptive learning optimization control module, a ship motion state feedback supervision control module, a thrust distribution unit and a ship propulsion system; the above-mentioned
The positioning instruction unit is used for giving positioning information such as a position, a heading and the like according to a positioning mode and a positioning requirement by a user;
the sea condition wind, wave and flow measuring unit is used for measuring sea condition information such as wind, wave, flow and the like;
the actual position and heading measuring unit of the ship is used for measuring the actual position and actual heading information of the ship;
the ship motion state feedback monitoring control module is used for analyzing ship position deviation and heading deviation, performing negative feedback control on the ship position and heading, and transmitting the deviation analysis data to the sea condition-variable self-adaptive learning optimization control module;
the sea condition changing self-adaptive learning optimization control module is used for carrying out self-adaptive parameter adjustment by using ship position deviation, heading deviation and storm flow real-time data, and outputting a longitudinal control force instruction and a transverse control force instruction after operation;
and the thrust distribution unit and the ship propulsion system are used for receiving control signals of the ship motion state feedback monitoring control module and the sea state changing self-adaptive learning optimization control module, and controlling the ship propulsion system to operate through a distribution algorithm to realize a dynamic positioning function.
The sea condition changing self-adaptive learning optimization control module comprises a wave flow self-adaptive control unit and a wind self-adaptive control unit; the wave flow adaptive control unit comprises a ship actual draft monitoring subunit, a hydrodynamic parameter adaptive learning and adjusting subunit and a wave flow adaptive controller subunit; the wind self-adaptive control unit comprises a cargo wind area estimation subunit, a wind acting force parameter self-adaptive learning adjustment subunit and a wind self-adaptive controller subunit.
The ship motion state feedback supervision control module comprises a position feedback supervision control unit and a heading feedback supervision control unit; the position feedback supervision control unit comprises a position deviation analysis subunit and a position supervision controller subunit; the heading feedback supervision and control unit comprises a heading deviation analysis subunit and a heading supervision controller subunit.
The hydrodynamic parameter self-adaptive learning and adjusting subunit is provided with a hydrodynamic parameter library; the parameter library is obtained through the early-stage computational fluid mechanics simulation calculation and ship model test, and the specific operation is as follows:
selecting a certain rated incoming flow speed V, setting incoming flow direction angles to be 10 degrees, 20 degrees and 30 degrees, once.360 degrees respectively, obtaining hydrodynamic resultant force P of the ship at each direction angle through computational fluid mechanics simulation calculation and model test, and then decomposing the resultant force P into component force P along the longitudinal direction of the ship t And a component P in the transverse direction of the ship n Dimensionless two-component force can be obtained
C t ＝P t /(0.5ρV 2 LD)
C n ＝P n /(0.5ρV 2 LD)
In the formula, C t 、C n The longitudinal force coefficient and the transverse force coefficient of hydrodynamic force borne by the semi-submersible carrying equipment are respectively; rho is water(ii) a density of (d); v is the relative speed of the model incoming flow; l is the length of the model ship; d is the model draught.
The wave current adaptive controller subunit calls a hydrodynamic coefficient C of a corresponding angle from a hydrodynamic parameter library of the hydrodynamic parameter adaptive learning and adjusting subunit through an interpolation method according to the sea current direction measured by the sea condition wave current measuring unit t And C n And calculating the actual stress of the semi-submersible carrying equipment
P Fruit of Chinese character' t ＝C t .(0.5ρV Fruit of Chinese wolfberry 2 L Fruit of Chinese wolfberry D Fruit of Chinese wolfberry )
P n fruit of Chinese hawthorn ＝C n .(0.5ρV Fruit of Chinese wolfberry 2 L Fruit of Chinese wolfberry D Fruit of Chinese wolfberry )
In the formula, P Fruit of tsui 、P n Shi Li Respectively longitudinal water power and transverse water power borne by the semi-submersible carrying equipment; ρ is the density of water; v Fruit of Chinese wolfberry The actual relative speed of the ocean current; l is Fruit of Chinese wolfberry Is the real ship length; d Fruit of Chinese wolfberry The actual draft of the ship measured by the actual draft monitoring subunit.
Therefore, in order to counterbalance the hydrodynamic force applied to the semi-submersible carrying equipment, the control force is theoretically equal to the hydrodynamic force in magnitude and opposite to the hydrodynamic force, so that
P t control ＝P Fruit of tsui
P n control ＝P n Shi Li
In the formula, P t control Longitudinal control force; p n control Is a lateral control force.
The hydrodynamic parameter adaptive learning and adjusting subunit takes output signals of a position deviation analysis subunit and a heading deviation analysis subunit of the ship motion state feedback and supervision control module as an information source for adaptive learning and optimization, and the specific optimization and adjustment principle is as follows
Firstly, the position deviation is decomposed into longitudinal position deviation and transverse position deviation of the ship, and then the longitudinal control force P is judged according to the direction and the magnitude of each deviation t control And a lateral control force P n control Whether the adjustment is increased or decreased and how much the ratio is adjusted are required respectively. To be simpleSingle calculation, the system employs a linear adjustment method, as follows
P t control output ＝K t P t control ＝K t P Fruit of tsui
P n control output ＝K n P n control ＝K n P n Shi Li
In the formula, P t control output Outputting a longitudinal control force command of the wave flow adaptive controller subunit; p n control output Outputting the transverse control force of the wave flow adaptive controller subunit; k is t Adjusting the proportionality coefficient for the longitudinal force; k is n The scaling factor is adjusted for the lateral force.
By the above-mentioned proportionality coefficient K t And K n Adjusting the longitudinal control force and the transverse control force, and when the deviation direction of the longitudinal position of the ship is the same as the direction of the longitudinal control force, adjusting and reducing the output instruction of the longitudinal control force, otherwise, adjusting and increasing the output instruction of the longitudinal control force; and on the same horizontal principle, when the deviation direction of the horizontal position of the ship is the same as the direction of the horizontal control force, the horizontal control force output instruction is adjusted and reduced, otherwise, the horizontal control force output instruction is adjusted and increased. The proportion of adjustment is proportional to the magnitude of the deviation. When the adjustment is increased, the adjustment proportion coefficient is larger than 1, and when the adjustment is decreased, the adjustment proportion coefficient is smaller than 1. And the coefficient of each adjustment is stored in the system as the experience of the next adjustment, and finally the purpose of self-learning training optimization is achieved.
The principle of the wind adaptive control unit is basically the same as that of the wave flow adaptive control unit, the rated wind speed, the rated wind area and the wind directions of 10 degrees, 20 degrees and 30 degrees. And then calling database parameters according to the actual wind speed and the wind direction, and calculating longitudinal control force output and transverse control force output. The semi-submersible carrying equipment has the advantages that goods loaded by the semi-submersible carrying equipment are variable, and the difference of the wind areas is large, so that the sub-unit for estimating the wind areas of the goods is added, a user can manually input an estimated value of the wind areas of the goods, the wind power is considered to be in direct proportion to the area, the input of the estimated value is beneficial to faster convergence of a system, and the self-adaptive learning optimization speed of the system is improved.
The hydrodynamic parameter adaptive learning and adjusting subunit and the wind acting force parameter adaptive learning and adjusting subunit use output signals of a position deviation analysis subunit and a heading deviation analysis subunit in the ship motion state feedback and supervision control module as information sources of adaptive learning and optimization, decompose the position deviation into a ship longitudinal position deviation and a ship transverse position deviation, and judge whether the longitudinal control force and the transverse control force need to be respectively increased or decreased and the needed adjustment proportion according to the direction and the magnitude of each deviation.
The position feedback monitoring control unit and the heading feedback monitoring control unit adopt a conventional feedback control strategy, and have the functions of providing deviation analysis data for the sea condition variable self-adaptive learning optimization control module, correcting the control deviation and error accumulation of the sea condition variable self-adaptive learning optimization control module, realizing function complementation and further improving the stability and control precision of the system.
As shown in fig. 2 and 3, the thrust distribution unit includes a longitudinal thrust distribution subunit and a lateral thrust distribution subunit; and the longitudinal thrust distribution subunit receives a longitudinal control force signal of the sea state changing self-adaptive learning optimization control module and a longitudinal position control signal of the ship motion state feedback supervision control module, integrates the information of the longitudinal control force signal and the longitudinal position control signal, and then outputs a control signal to directly control the main propeller 1 of the propulsion system of the semi-submersible carrying equipment to rotate at a required rotating speed, so that the longitudinal freedom degree of the semi-submersible carrying equipment is positioned and controlled. The transverse thrust distribution subunit receives a transverse control force signal of the sea condition-variable self-adaptive learning optimization control module, a transverse position control signal and a heading control signal of the ship motion state feedback supervision control module, integrates the information of the transverse control force signal, the transverse position control signal and the heading control signal of the ship motion state feedback supervision control module to jointly participate in the control of the fore lateral thruster 2 and the aft lateral thruster 3, and realizes the positioning control of the transverse freedom degree and the horizontal rotation freedom degree of the semi-submersible carrying equipment by cooperating with the thrust of each transverse thruster.
As shown in fig. 4, the present embodiment further provides a power positioning adaptive control method for a semi-submersible vehicle, where the method includes:
establishing a system hydrodynamic parameter library and a system wind acting force parameter library through computational fluid dynamics simulation calculation and a ship model test;
according to the positioning mode and the positioning requirement, giving position and heading positioning information;
collecting wind wave flow data;
according to the collected wind wave flow data, self-adaptively applying corresponding longitudinal stress coefficients and transverse stress coefficients from a hydrodynamic parameter library and a wind acting force parameter library, and calculating longitudinal control force output and transverse control force output required for resisting the wind wave flow;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
acquiring actual position information and heading information of a ship, comparing the actual position information and the heading information with a given position and the heading information, and analyzing position and heading deviation data;
according to the position and heading deviation data, a hydrodynamic force and wind acting force parameter library is self-learned and optimized, and the output proportional coefficient of the longitudinal control force and the transverse control force is adjusted;
calling a position supervision control algorithm and a heading supervision control algorithm according to the position and heading deviation data;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
judging whether the user stops the power positioning function, if not, continuing to collect storm flow data and entering a new cycle; if yes, the process is ended.
According to ship position deviation and heading deviation data, a hydrodynamic force and wind acting force parameter library is self-learned and optimized, and hydrodynamic force and wind acting force parameters are adaptively used through the hydrodynamic force and wind acting force parameter library; and
according to the position deviation and heading deviation data of the ship; and adjusting the longitudinal control force proportion coefficient and the transverse control force proportion coefficient, and calculating the longitudinal control force and the transverse control force of the storm flow through the longitudinal control force proportion coefficient and the transverse control force proportion coefficient.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A semi-submersible vehicle power positioning adaptive control system, the control system comprising: the system comprises a positioning instruction unit, a sea condition wind wave flow measuring unit, a ship actual position and heading measuring unit, a sea condition changing self-adaptive learning optimization control module, a ship motion state feedback supervision control module, a thrust distribution unit and a ship propulsion system; the above-mentioned
The positioning instruction unit is used for giving position and heading positioning information according to a positioning mode and a positioning requirement by a user;
the sea condition wind, wave and current measuring unit is used for measuring the information of wind, wave and current sea conditions;
the actual position and heading measuring unit of the ship is used for measuring the actual position and actual heading information of the ship;
the ship motion state feedback monitoring control module is used for analyzing ship position deviation and heading deviation, performing negative feedback control on the ship position and heading, and transmitting the deviation analysis data to the sea condition-variable self-adaptive learning optimization control module;
the sea condition changing self-adaptive learning optimization control module is used for carrying out self-adaptive parameter adjustment by using ship position deviation, heading deviation and storm flow real-time data, and outputting a longitudinal control force instruction and a transverse control force instruction after operation;
the thrust distribution unit and the ship propulsion system are used for receiving control signals of the ship motion state feedback supervision control module and the sea state changing self-adaptive learning optimization control module and controlling the operation of the ship propulsion system through a distribution algorithm.
2. The semi-submersible vehicle power positioning adaptive control system of claim 1, wherein the variable sea-state adaptive learning optimization control module comprises a wave-flow adaptive control unit and a wind adaptive control unit; the wave flow adaptive control unit comprises a ship actual draft monitoring subunit, a hydrodynamic parameter adaptive learning and adjusting subunit and a wave flow adaptive controller subunit; the wind self-adaptive control unit comprises a cargo wind area estimation subunit, a wind acting force parameter self-adaptive learning adjustment subunit and a wind self-adaptive controller subunit.
3. The semi-submersible vehicle power positioning adaptive control system of claim 1, wherein the vessel motion state feedback supervisory control module comprises a position feedback supervisory control unit and a heading feedback supervisory control unit; the position feedback supervision control unit comprises a position deviation analysis subunit and a position supervision controller subunit; the heading feedback supervision and control unit comprises a heading deviation analysis subunit and a heading supervision controller subunit.
4. The semi-submersible vehicle power positioning adaptive control system as recited in claim 2, wherein the hydrodynamic parameter adaptive learning adjustment subunit and the wind force parameter adaptive learning adjustment subunit are respectively provided with a hydrodynamic parameter library and a wind force parameter library; and the wave flow adaptive controller subunit and the wind adaptive controller subunit are respectively used for calling hydrodynamic coefficients and wind action coefficients of corresponding angles from the hydrodynamic parameter library and the wind action parameter library according to the flow direction and the wind direction measured by the sea condition wind wave flow measuring unit, and respectively calculating respective longitudinal control force output and transverse control force output according to the flow velocity and the wind speed.
5. The adaptive control system for power positioning of semi-submersible vehicle equipment according to claim 2, wherein the adaptive learning adjustment subunit of hydrodynamic parameters and the adaptive learning adjustment subunit of wind force parameters use the output signals of the position deviation analysis subunit and the heading deviation analysis subunit in the feedback and supervision control module of the ship motion state as the information source for adaptive learning optimization, and decompose the position deviation into the longitudinal position deviation and the transverse position deviation of the ship, and then judge whether the longitudinal control force and the transverse control force need to be adjusted or decreased and the required adjustment proportion respectively according to the direction and the magnitude of each deviation.
6. The semi-submersible vehicle power positioning adaptive control system of claim 4, wherein the library of hydrodynamic and wind parameters is obtained by computational fluid dynamics simulation calculations and vessel model tests; the hydrodynamic parameter library and the wind acting force parameter library respectively comprise dimensionless longitudinal stress coefficient and transverse stress coefficient databases, and the stress coefficients can be called according to actual sea conditions to calculate respective longitudinal control force output and transverse control force output.
7. The semi-submersible vehicle power positioning adaptive control system of claim 3, wherein the position feedback supervisory control unit and the heading feedback supervisory control unit are configured to provide deviation analysis data for the sea condition varying adaptive learning optimization control module, and to correct control deviation and error accumulation of the sea condition varying adaptive learning optimization control module to achieve functional complementation.
8. The semi-submersible vehicle launch vehicle power positioning adaptive control system of claim 1 wherein the thrust split unit comprises a longitudinal thrust split subunit and a lateral thrust split subunit;
the longitudinal thrust distribution subunit receives a longitudinal control force signal of the sea state changing self-adaptive learning optimization control module and a longitudinal position control signal of the ship motion state feedback supervision control module, and outputs a control instruction to control a longitudinal thruster of a ship propulsion system to operate;
and the transverse thrust distribution subunit receives a transverse control force signal of the sea state changing self-adaptive learning optimization control module, a transverse position control signal and a heading control signal of the ship motion state feedback monitoring control module, and outputs a control instruction to control the operation of a transverse thruster of the ship propulsion system.
9. A power positioning self-adaptive control method for semi-submersible carrying equipment is characterized by comprising the following steps
Establishing a system hydrodynamic parameter library and a system wind acting force parameter library through computational fluid dynamics simulation calculation and a ship model test;
according to the positioning mode and the positioning requirement, giving position and heading positioning information;
collecting wind wave flow data;
according to the collected storm flow data, self-adaptively applying corresponding longitudinal stress coefficients and transverse stress coefficients from a hydrodynamic force parameter library and a wind acting force parameter library, and calculating longitudinal control force output and transverse control force output required for resisting the storm flow;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
acquiring actual position information and heading information of a ship, comparing the actual position information and the heading information with given position and heading information, and analyzing position and heading deviation data;
according to the position and heading deviation data, a hydrodynamic force and wind acting force parameter library is self-learned and optimized, and the output proportional coefficient of the longitudinal control force and the transverse control force is adjusted;
calling a position supervision control algorithm and a heading supervision control algorithm according to the position and heading deviation data;
calling a corresponding thrust distribution algorithm, and outputting a propeller control command to control the operation of the propeller;
judging whether the user stops the power positioning function, if not, continuing to collect storm flow data and entering a new cycle; if yes, the process is ended.
10. The self-adaptive control method for the power positioning of the semi-submersible vehicle as claimed in claim 9, wherein the hydrodynamic and windward acting force parameter library is self-learned and optimized according to the ship position deviation and the heading deviation data, and the hydrodynamic and windward acting force parameters are adaptively used through the hydrodynamic and windward acting force parameter library; and
according to the position deviation and heading deviation data of the ship; and adjusting the longitudinal control force proportion coefficient and the transverse control force proportion coefficient, and calculating the longitudinal control force and the transverse control force of the storm flow through the longitudinal control force proportion coefficient and the transverse control force proportion coefficient.
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