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Ship dynamic positioning method based on improved strong tracking filter state observer

A technology of strong tracking filtering and state observer, which can be used in instruments, non-electric variable control, speed/acceleration control, etc., and can solve the problems of increasing the wear of the thruster of the dynamic positioning system and reducing the service life of the thruster.

Active Publication Date: 2015-05-20
HARBIN ENG UNIV
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Problems solved by technology

Among these disturbances, wind, low-frequency second-order waves, and currents will cause the ship to drift slowly, which can be compensated and offset by dynamic positioning propellers; high-frequency first-order waves and noise interference will not cause changes in the position of the ship, but It will cause irregular oscillating motion, increase the wear of the propeller of the dynamic positioning system, thereby reducing the service life of the propeller

Method used

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  • Ship dynamic positioning method based on improved strong tracking filter state observer
  • Ship dynamic positioning method based on improved strong tracking filter state observer
  • Ship dynamic positioning method based on improved strong tracking filter state observer

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Embodiment Construction

[0059] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0060] attached figure 1 It is the motion control flow chart of the ship using the state observer based on the improved strong tracking filter method, and describes the processing process of the ship motion controller.

[0061] The purpose of the present invention is achieved as follows:

[0062] Step 1: In the case of environmental interference, the position and heading information of the dynamic positioning ship is collected through the sensor system. Through these position and heading information, the dynamics and kinematics process of ship motion can be abstracted, and the kinematics mathematical model of dynamic positioning ship is:

[0063] η · = J ( η ) v

[0064] M v · +...

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Abstract

The invention discloses a ship dynamic positioning method based on an improved strong tracking filter state observer. The method comprises the following steps: acquiring the position and heading of a ship; filtering noise part in the position and heading of the ship by utilizing the improved strong tracking filter state observer, and transmitting an obtained estimated value of the position and heading of the ship meeting the precision requirement to a PID controller; outputting a control force and a torque according to an expected value of the position and heading of the ship and the received information by the PID controller, and controlling the motion of the ship. By adopting the method, under the situation that the external interference is suddenly changed, the tracking filter effect is better, and the stability of the ship can be improved.

Description

technical field [0001] The invention belongs to the field of dynamic positioning ship control, and in particular relates to a ship dynamic positioning method based on an improved strong tracking filter state observer for sudden changes in the external environment. Background technique [0002] Fully exploring and researching the ocean and carrying out reasonable and effective resource exploitation play an inestimable role in the development of human society. As the exploitation of marine resources continues to advance to the deep sea, some offshore operating platforms, such as floating production and storage tankers, offshore drilling platforms, etc., can still complete oil and gas exploration, pipe laying and cable laying, marine geological exploration, etc., but comprehensive consideration The effects are not ideal. In this context, the ship dynamic positioning system (Dynamic Positioning System, referred to as DPS) came into being. In recent years, the dynamic positioni...

Claims

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Application Information

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IPC IPC(8): G05D13/04
Inventor 王元慧庹玉龙付明玉丁福光王海英赵强张赞杨云龙迟岑刘佳
Owner HARBIN ENG UNIV
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