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Ship dynamic positioning system nonlinear unbiased prediction control method based on input increment.

A technology of dynamic positioning system and predictive control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of control effect influence and achieve the effect of improving control accuracy

Active Publication Date: 2020-01-14
QINGDAO UNIV OF SCI & TECH
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Problems solved by technology

However, the dynamic positioning system is a complex nonlinear system. If the model predictive controller is designed with a linear model, the control effect may be affected. It is necessary to study the nonlinear model predictive control (NMPC) algorithm and its application.

Method used

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  • Ship dynamic positioning system nonlinear unbiased prediction control method based on input increment.
  • Ship dynamic positioning system nonlinear unbiased prediction control method based on input increment.
  • Ship dynamic positioning system nonlinear unbiased prediction control method based on input increment.

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] A nonlinear unbiased predictive control method for ship dynamic positioning systems based on input increments. The control input is used as the extended state, and an extended state observation model including input increments is established. The unknown state and control input are estimated based on the UKF algorithm, thereby The NMPC optimal controller is designed to enable the system to unbiasedly track the set target, thereby improving the control accuracy of the dynamic positioning system and the robustness of the disturbance response.

[0040] Such as figure 1 Shown, the implementation steps of the present invention are as follows:

[0041] (1) Considering the influence of low-frequency environmental interference caused by wind, waves, and currents, a state-space model of the dynamic positioning system is established and discretized to obt...

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Abstract

The invention provides a ship dynamic positioning system nonlinear unbiased prediction control method based on input increment. The method comprises the following steps: establishing a dynamic positioning system state space model considering the influence of low-frequency environment interference caused by wind, waves and flows, and discretizing to obtain a discrete time model; taking the input increment as a state variable, taking the control input as an extended state, establishing an extended state observation model containing the input increment, and estimating an unknown state and the control input by adopting an unscented Kalman filter algorithm; based on a dynamic positioning system nominal model without interference, an unbiased NMPC optimization problem with input constraints is defined, an optimal control input increment sequence in a control time domain is solved, a first element of the sequence acts on the system, and control input at the current moment is obtained. According to the method, the ship position or the ship route of the dynamic positioning ship interfered by the environment can be set in an unbiased tracking mode, and the control precision and robustness ofa dynamic positioning system are improved.

Description

technical field [0001] The invention relates to the field of ship dynamic positioning control, in particular to a nonlinear unbiased predictive control method for a ship dynamic positioning system based on input increments. Background technique [0002] Ship dynamic positioning (Dynamic Positioning, DP) system is "a system that automatically controls the course and position of a ship relying on its own propulsion system". Because the positioning cost of the dynamic positioning system does not increase with the increase of water depth, it has strong adaptability to extremely deep sea areas and harsh sea conditions, and has strong positioning capabilities, so the system is being more and more widely used in deep-sea oil drilling, ocean investigation, and sea replenishment. It has become a key technology for deep sea development in offshore ship operations such as loading and unloading and submarine cable laying. The core of the dynamic positioning system is a control system c...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邓芳何燕杨化林王龙金
Owner QINGDAO UNIV OF SCI & TECH
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