| Ship dynamic positioning system is an important equipment to support offshore engineering platform/ship operation.It has important and extensive applications on offshore platform/ship.The captain is required to hold the certificate of the dynamic positioning operator.The competency training of the dynamic positioning operator is mainly divided into teaching,simulator training and real ship operation training.Among them,dynamic positioning simulator is needed in simulator training.At present,China has not developed a dynamic positioning simulator with independent intellectual property rights and perfect functions,and the related equipment mainly depends on foreign imports.After deeply studying the key technologies of the dynamic positioning simulator,the following work is accomplished:1.A three-degree-of-freedom mathematical model of ship dynamic positioning is established,and a high-level dynamic positioning controller model is built based on the previous research results of the research group.The thrust distribution strategy and positioning capability analysis in dynamic positioning are emphatically studied.Aiming at the technical difficulties of multiconstraint thrust allocation,a thrust allocation strategy based on RDHS+SQP hybrid algorithm is proposed,which is compared with conventional thrust allocation strategies such as pseudo-inverse method,sequential quadratic programming(SQP)and harmony search algorithm(HS),to verify the accuracy of the algorithm under low power consumption;and the timeliness of the conventional positioning capability analysis algorithm for increasing environmental load step by step is not satisfactory.Sufficiently,a positioning capability analysis algorithm based on the cooperation of SQP and binary search is proposed,which can effectively improve the calculation speed to meet the timeliness required by the software.The correctness of the positioning capability analysis algorithm is verified by the real ship sea test data.2.Using QT to design UI interface and dynamic link library to construct the overall framework of ship dynamic positioning simulator trainee machine operation software.The Simulink model of ship dynamic positioning dynamics and kinematics is established based on the relevant parameters of a supplier ship of Xiamen Shipbuilding Heavy Industry Platform.The Simulink model is converted into C/C++ code by using the code conversion tool of matlab.At the same time,according to the relevant operation documents of the dynamic positioning simulator,the functional requirements of the software are defined,API and corresponding invocation logic are set up,and the model C/C++ code is encapsulated into a dynamic link library for dynamic invocation of the QT interface3.In view of the fact that the training of dynamic positioning operators in China is still in its infancy and the evaluation of dynamic positioning simulators has not yet formed the basic status of the system system system,this theiss refers to foreign materials,uses the relevant operational test questions of dynamic positioning simulators to test the functional library of the dynamic positioning simulators developed,and according to the modification suggestions put forward by the dynamic positioning ship operators after actual operation.Optimize the original model,and design more in line with the actual needs of the dynamic positioning simulator student machine operation software.At last,the work content of this theiss is analyzed and summarized,and the shortcomings in the work and the direction of future efforts are pointed out. |
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