基于OIPSO算法的环境最优动力定位控制器设计

Design of Weather Optimal Dynamic Positioning Controller Based on OIPSO Algorithm

环境最优动力定位控制是一种以能量消耗最少为目标的动力定位控制方法,在不需要任何环境传感器的情况下,使其保持在设定区域且消耗能量最少,节约燃料、减少有害气体的排放。首先,提出一种带有目标性初始化粒子群的改进粒子群优化算法(OIPSO),通过引入混沌算子,利用信息熵进行评估对初始化粒子种群进行调整以提高粒子群算法全局搜索能力和收敛速度,具有大范围全局寻优能力。其次,研究设计环境最优艏向控制器控制律,该控制律能满足欠驱动船舶动力定位的控制需求。最后以Cyber Ship Ⅱ动力定位模型船为对象进行仿真验证。结果表明,所提出的寻优算法和改进控制律达到了设计的目的。

Weather optimal control is a method of dynamic positioning whose purpose is to minimize the energy consumption. The ship can hoM fl within the desired area and consume a minimum amount of energy, so that # save fuel and reduce harmful gas emissions without using any environmental sensors. Firstly, an improved particle swarm optimization based on the objective initialization of particle swarm （OIPSO） is proposed, by introducing chaos operator and information entropy which are adopted to tune the initialization of particle swarm in order to enhance the convergence speed and global search of PSO, and the algorithm has a large range of global searching ability. Secondly, design and study the law of weather optimal heading controller, which can satisfy the demand of under actuated dynamic positioning ship. At last, Cyber Ship Ⅱdynamic positioning model ship is simulated, and the result shows that the objective of the algorithm and improved control law is reached.