Research On Intelligent Control Algorithm For Dynamic Positioning System Of Test Ship

As a necessary positioning device for ships in the deep sea,dynamic positioning system has many advantages such as strong maneuverability and stable positioning effect.As a task-based ship which needs to be tested in the ocean,the test ship needs to rely on the dynamic positioning system to maintain in a certain position and heading.This paper analyzes and studies the performance of the nonlinear filter by using the nonlinear passive theory by using two full rotating thrusters and one channel propeller equipped with 25 m long.Then,the state estimator based on Unscented Kalman filter is designed by using the non trace transform based on Kalman filter.The simulation results show that The designed filter can achieve the desired filtering effect.The top level controller of dynamic positioning is the core part of DP system.Based on the research of traditional controller,this paper establishes a linear quadratic dynamic positioning controller based on optimal control theory,and uses the improved particle swarm optimization The algorithm)is used to optimize the parameters of the controller,and the adaptive weight adjustment strategy and the S-type variable particle strategy are added.The top level controller of dynamic positioning based on adaptive dynamic weight variation particle swarm optimization is designed.Through simulation experiments,it is proved that the improved PSO has better ability of early search and later convergence,and compares the control of different controllers The results of positioning verify the feasibility of the top-level controller of dynamic positioning.The control command output by the top controller of dynamic positioning needs to be distributed to each propeller through thrust distribution module.In this paper,under the condition of establishing propeller model and constraint constraints,the paper takes low power consumption and error reduction as the optimization objective,and introduces generalized inverse method and differential evolution optimization method Algorithm),which is designed with the improved adaptive differential evolutionary thrust allocation optimization controller,is added with the "elite" external set strategy to enhance the optimization ability of the algorithm.Through simulation experiments,it is verified that the power consumption of the proposed thrust distribution algorithm is less than that of the UN optimized thrust distribution algorithm,and the real-loop simulation of the dynamic positioning control system of the test ship is carried out The positioning ability of the control system is verified.