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Ship course model predictive control algorithm design method under multiple constraint conditions

A technology of model predictive control and algorithm design, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, which can solve the problems of low ship speed and poor rudder efficiency.

Active Publication Date: 2021-01-22
中国船舶重工集团公司第七0七研究所九江分部
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Problems solved by technology

Under low-noise conditions, low-frequency manual steering is usually adopted, that is, by relaxing the heading during navigation, using a small rudder angle, and steering at the lowest possible frequency; however, under low-noise conditions, due to the low speed of the ship , The rudder effect is poor, and it is difficult for the crew to make long-term and effective predictions of the changes in the ship's motion state during follow-up manipulation

Method used

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  • Ship course model predictive control algorithm design method under multiple constraint conditions
  • Ship course model predictive control algorithm design method under multiple constraint conditions
  • Ship course model predictive control algorithm design method under multiple constraint conditions

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Embodiment

[0214] Taking a certain type of ship motion control system as an example, the parameter value of the heading model predictive controller is: n y =35,n u =15, Q=0.2I ny×ny , R=20I nu×nu , the rudder rudder angle amplitude is set to 10°, the rudder speed amplitude is limited to 1.5° / s by adding the state quantity constraints, the initial heading is 30°, the target heading is 60°, the initial speed is set to 8kn, and the simulation sampling time is set to It is set as 0.1s, and the heading deviation is relaxed by 2°. The simulation results are as follows image 3 and Figure 4 As shown, under the same simulation conditions, the control effect under the PID control algorithm is as follows: Figure 5 and Figure 6 As shown, the abscissa represents the time, and the ordinate represents the change angle. By comparison, it can be seen that the course control of the present invention changes more smoothly, ensuring the smooth and low-noise navigation of the ship.

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Abstract

The invention discloses a ship course model predictive control algorithm design method under multiple constraint conditions. The method comprises the following steps of: establishing a ship low-noisemotion control simulation model; designing a course model prediction controller of the ship according to the ship motion control simulation model and establishing a control objective function for themodel prediction controller; determining hard constraint conditions like a rudder angle and a rudder speed of a rudder according to the control objective function and actual operation requirements ofthe ship, and processing the hard constraint conditions; properly broadening the course deviation according to the control objective function to form a soft constraint condition, and processing the soft constraint condition; and according to the control objective function, the hard constraint conditions and the soft constraint condition, performing online optimization to obtain optimal controlleroutput. According to the invention, the noise problem of the rudder device caused by frequent steering in the maneuvering process of the ship is effectively improved, and the stable and low-noise navigation of the ship is ensured.

Description

technical field [0001] The invention relates to the technical field of ship motion control, and more specifically relates to a design method of a ship heading model predictive control algorithm under multi-constraint conditions. Background technique [0002] For the ship control system, rudder angle and rudder speed are important parameters to characterize the running state of the steering gear. The maximum rudder angle and maximum rudder speed restrict the maneuverability, stability and control quality of the ship; in order to meet the requirements of ship control, the The bow turning speed determines the rudder angle and rudder speed, and is directly related to the hydrodynamic noise. Under low-noise conditions, low-frequency manual steering is usually adopted, that is, by relaxing the heading during navigation, using a small rudder angle, and steering at the lowest possible frequency; however, under low-noise conditions, due to the low speed of the ship , The rudder effe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T90/00
Inventor 张子昌赵光郭亦平王旭东谌兴良刘浩徐雪峰
Owner 中国船舶重工集团公司第七0七研究所九江分部
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