Research On System Design And Control Method Of Semi-submersible

"Developing modern marine pastures" and "strengthening scientific and technological research and development of marine pastures" are important measures to optimize marine ecology,as well as effective ways to realize the transformation and upgrading of fishery and promote the reform of fishery supply side.At present,China's marine ranch monitoring system has not been formed,and the degree of informatization is not high.Intelligent advanced equipment is urgently needed to achieve regional fishery resource conservation,ecological environment monitoring,and promote the upgrading of marine fishery industry.In this paper,the design and control methods of Semi-submersible system are studied based on this background:1.Develop a small Semi-submersible prototype.The design scheme of general layout and structure is studied,and the control subsystem with low power consumption is designed.The fast performance of Semi-submersible is analyzed by CFD prediction,and the choice of thruster is determined.Through the system integration,the principle prototype is formed,and its motion performance and monitoring performance are verified by the pool experiment and river experiment.2.Establish the model predictive controller of Semi-submersible.Aiming at the motion control of Semi-submersible,the model predictive control algorithm is studied.The force model and motion mathematical model of the Semi-submersible are constructed,the state space equation is derived,and its control constraints are analyzed.The maneuverability hydrodynamic coefficients required by the state space equation are obtained by numerical simulation of pure sway motion and pure head roll motion.3.Study the improvement of model predictive control method for Semi-submersible.The speed control and heading control performance of PID and traditional model predictive control methods are compared at high speed and low speed.An improved model predictive control algorithm combining PID algorithm and model predictive control is proposed,and a valence function with proportional,integral and differential structure is designed.The anti-interference of the method is verified by simulation.The Semi-submersible developed in this paper can improve the efficiency of intelligent monitoring equipment for the marine ecological environment and offshore fishery protection,and provide technical support for China's marine agriculture to move towards intelligence and information technology.