PID Controller Optimization And Programming Of Ship Dynamic Positioning System

Dynamic positioning technology is one of the core technologies in the field of intelligent ship.It has the advantages of high positioning accuracy and free from water depth and other conditions.The research on dynamic positioning system in foreign countries is carried out earlier and the technology is relatively mature.However,the research on dynamic positioning system in China starts late,and most of it is theoretical analysis,and the core technology still relies on Norway,the Netherlands and other countries.In order to make better use of Marine resources,the independent development of dynamic positioning system is very important.Based on the research of dynamic positioning system at home and abroad,this paper aims at the independent development of dynamic positioning system.Through the establishment of the mathematical model of dynamic positioning system,the thrust allocation algorithm is studied and the dynamic simulation experiment of dynamic positioning system is carried out.At the same time,the physical characteristics of the thruster are constrained by the control principle of the thruster,and a new control strategy is established to optimize the controller parameters with Genetic Algorithm,so as to realize the optimal design of the dynamic positioning system.Finally,the human-computer interface of the dynamic positioning system is designed,and the program is developed based on the dynamic positioning simulation system,which lays a foundation for improving the practical application ability of the dynamic positioning system.The optimal parameters of the controller can be obtained by optimizing the parameters of the controller under specific sea conditions based on genetic algorithm,and the positioning ability of the dynamic positioning system can be improved.Thruster control principle can reduce the wear of the thruster,so that the thrust allocation algorithm can get a smoother thrust and azimuth Angle,and reduce the energy consumption of the system.Based on the dynamic positioning system,an interactive application program is created,which integrates the models of controller,thrust allocation algorithm and guidance system,and realizes the visualization of the program.In this thesis,based on the training model of controller parameters,each simulation model is packaged into an APP library to create an application program of dynamic positioning system and realize sharing with others.After installing the APP,users can access the models of the dynamic positioning system and set the parameters of the controller,environmental load and other modules.After running the program,users can obtain the real-time trajectory curve of the ship,as well as the thrust and azimuth Angle generated by each propeller when the ship remains at a predetermined position.