Design Control Algorithm Of A Dynamic Positioning System For The Large Trailing Suction Hopper Dredger

Dynamic Positioning System(DPS) is an important guarantee to achieve accurate Trailing Suction Hopper Dredger (TSHD)dredging location, speed up the dredging rate, improve quality dredging, dredging to improve economic efficiency. It has not limited depth, into the advantages of rapid evacuation, and can maneuver the ship accurate. The project in Jiangsu Province Science and Technology Department with the support of high-tech research projects, proposed a "Design Control algorithm of a Dynamic Positioning System for the Large Trailing Suction Hopper Dredger control" of the task, and as a master's thesis research. Based on TSHD control system requirements, DPS for dredging model, mathematical model, digital filter, the control algorithm and related problems of the system and research thesis with a clear engineering background and practical value, The main contributions are as follows:TSHD for the complicated work flow, taking into account the process of TSHD dredging the stage, TSHD dredging is proposed when the eight models of the DT low rake when dredging force and compensation management DP bow bow spray jet recoil when the compensation method, and the storm flow calculations and other environmental forces carried out a detailed introduction to each chapter for the future and lay a solid foundation. This paper focuses on DP parts.According to a large TSHD dredging when the movement characteristic of the low and high frequency of its mathematical model, focusing on the use of Filter high-frequency part of its filter, and the preparation of the Matlab simulation and the C language filter program, discussed Filter stability and convergence, the convergence of the proposed improvement measures and the Criterion. Simulation results show that: the discrete Filter has good filtering effect, filter out high frequency signals can be well able to meet the engineering needs of the real ship.For practical applications, it is difficult to establish TSHD precise mathematical model of this problem in the controller design part, the subject of the use of fuzzy-based Control algorithm as its DPS application of the engineering method. Careful summary and analysis of the real ship based on the experience of staff proposed scope of control according to different ideological bias, and the fuzzy rules, while using Matlab's Fuzzy module and SImulink in DP mode to the full and half no-load three cases the position and heading, respectively, were simulated, and conducted a comprehensive analysis and comparison. Simulation results show that: Based on fuzzy Controller can obtain better dynamic performance and stable performance to meet the control requirements of the real ship, with the actual project value.TSHD for the nonlinear characteristics, drawing on the Norwegian University of Technology, Dr. T.I.Fossen on the basis of research results, this innovative work was done properly, the local optimal backstepping is proposed and applied to a TSHD DP control system, mainly for a number of theoretical studies, analysis, and proven to work.The main contribution of thesis and research results in a large TSHD on the application, achieved very good results the real ship, access to the Waterway Bureau, the company and mentor of affirmation and praise.