Research On Semi-physical Simulation System Of Mooring Positioning

The depth and breadth of the development of ocean resources have accelerated the technical requirements for the dimension and positioning performance of the vessel.Performance advantages and disadvantages of mooring positioning system decided the safety of the vessel or the floating body.Because of the difficulty of the performance verification of the mooring system and the high cost of equipment,taking a 1000 t emergency salvage crane as the object,the semi-physical simulation system of mooring positioning is studied in the paper.And we research and analyze the mooring control system effect and optimization strategy.The main work done in this article is listed as follows:(1)Discuss the structural characteristics of semi-physical simulation system;based on mooring positioning control principle and flow,composition and function of semi-physical simulation system of mooring positioning determined and establish system framework;determine the requirements,structural and functional module of simulation software.(2)Study the models of mooring system and environment disturbance.Discuss the mooring equipment,positioning methods of different engineering ships;deduce and analyse the models of ship,cable and anchor gear in mooring system and the models of wind,wave and current,especially the models of the first and two order disturbance force.The models of mooring system and environment disturbance are the basis of the simulation system,can provide the basis for the realization of the simulation system and it is one of the key technologies to realize virtual simulation in semi-physical simulation system.(3)Study the mooring control and numerical simulation of ship hull / mooring system.In this paper,fuzzy PID control is introduced on the basis of PID control,and the numerical simulation is carried out with ProteusDS.The model of the research object is established in ProteusDS,and the fuzzy PID algorithm is used to simulate the motion characteristics of the hull / mooring system under different working conditions.and analyze the influence of the dangerous condition of wave direction and wave height on the motion characteristics of the ship and mooring system.To provide reference for the optimization and operation safety of mooring system.(4)Tension optimization model of chains and genetic algorithm theory are studied.To overcome the genetic algorithm's premature convergence,slow convergence speed and the bad population diversity the measures of cross matching strategy of individual similarity,adaptive adjustment of crossover and mutation probability,nonlinear programming;quantum encoding,rotation gate dynamic adjustment,adaptive quantum mutation and catastrophe are adopted to optimize the tensions.And build simulation model in Simulink for time domain simulation,the results show that established model is valid.