Research On The Tracking Control Of The Dynamic Positioning System Relative To A Floating Vessel

Nowadays, the research on dynamic positioning system (DPS) is becoming more and more advanced. But the dissertation about the offshore target with random movement is not involved. The offshore ship inferred is freely floating in the control of the environment effect. The dissertation puts forward the idea about the research on the tracking control of the dynamic positioning system relative to a freely floating vessel. It keeps the DP ship with floating ship in the fixed location and heading, while the traditional DPS characteristic is that the DPS offshore target is a fixed location or track. If the method could be used in the practice, it will contribute to the exploitation of the ocean and the aggiornamento of the navy.A simple motion low frequency and high frequency mathematical model of vessel are established. The thruster, measurement and environment including wind wave and current models are also established. The floating ship adopts the model as the same as the DP ship and is simulated in the control of the environment.After the presentation of the digital PID algorithm, the neutral network framework is introduced, and the BP algorithm Diagonal Recurrent Neural Network's characteristic is presented. As the new DPS is considered, the application of BP based PID and DRNN based PID hybrid inversed control techniques is designed and analyzed. Comparing the arithmetic of hybrid control, we can see that the DRNN—PID controller has the feature of high precision, quick-response, and high stability, and it also can be used in numerous environment. Finally, the correctness and accuracy of the DP model are validated, which showed that this method has high value for theory and utility.