Research On Dynamic Positioning System Based On Engineering Ship

In recent years,with the globalization of economy and the rapid development of society,people pay more and more attention to the use of the ocean.The construction of ocean power proposed by the Eighteenth National Congress makes the development of ocean resources and the protection of maritime rights more important and urgent,which requires a large number of high-performance ships and marine engineering equipment.In order to ensure more stable navigation and positioning of ships in deep sea,dynamic positioning and tracking systems are needed.Dynamic positioning ship will be widely used in various fields of ocean engineering,and will have more and more broad application prospects.In order to ensure the safety and reliability of ships during navigation and operation,the requirements of dynamic positioning are more stringent.In this paper,the modeling,simulation,hardware structure and software functions of the dynamic positioning system on the engineering ship are studied respectively.The main work of this paper is as follows.(1)Establishing mathematical model.The coordinate system and coordinate transformation of dynamic positioning system are studied.A three-degree-of-freedom mathematical model of ship motion including low-frequency motion and high-frequency motion is established.The calculation methods and mathematical models of environmental disturbance forces and moments such as wind,wave and current are analyzed,and the thrust distribution model is established and optimized.(2)Establish dynamic positioning system simulation model.The algorithms of filter module,controller module and thrust distribution module are studied.In the thrust allocation module,a new feedback particle filter algorithm is used to identify ship model parameters and thrust coefficients.Compared with the extended Kalman filter method,the accuracy and rapidity of the feedback particle filter algorithm for identification are verified.The simulation target value is set and run to verify the feasibility of the system simulation.(3)Hardware structure and software function design of the system.In the aspect of hardware design,the hardware structure system of dynamic positioning is established,and the type and specification of components are selected.The composition and model selection of each sensor in the sensor measurement system are determined,and the port wiring of the PLC control device is designed.In the aspect of software design,based on the software development environment,the system's operation mode,alarm system and DP capabilityanalysis functions are designed.Complete the establishment of interface program and database,design the man-machine interface of the system.