第
18
卷第
5
期
2014
年
5
月
电机与控制学报
Electric
Machines
and
Control
Vo
l. 18
No.5
May
2014
基于锚链切换的平台自动锚泊定位系统设计
金鸿章
苏晓宇
于安才
2
,
3
林峰
4
(1.哈尔滨工程大学自动化学院,黑龙江哈尔滨
150001;
2.
天津工程机械研究院天津
300409;
3.
哈尔滨工业大学机电工程学院,黑龙江哈尔滨
15
∞
80;
4.
黑龙江大学信息与网络建设管理中心,黑龙江哈尔滨
15
∞
80)
摘
要:从半潜式乎台定位系统的经济性及安全性角度出友,提出一种在保证锚链力场均匀分布前
提下,实现,海洋平台快速准确定位的自动锚泊定位的方案。该方案以张力的优化结果作为锚链切
换的临界值,考虑到系统是在随机扰动下的多输入多输出系统,具有时变性及不确定性,采用模糊
策略控制锚链的收放;利用改进的遗传算法进行锚链张力优化,从两方面采对遗传算法进行改进以
提高优化效率及收敛性:一是采用基于收缩系统的初始种群生成方法;二是在标准遗传算法中结合
局部搜索。仿真结果表明提出的方案快速有效地均衡了张力场的分布,保证了海洋平台的定位
要求。
关键词:自动锚泊定位;遗传算法;张力优化;局部搜索;模糊控制
中圄分类号:
U675.
92
文献标志码
:A
文章编号:
l007-449X(2014)05-0093-06
Design
of
automatic mooring positioning system based on
mooring line switch
JIN
Hong-zhang
1
,
SU
Xiao-yu
1
, YU
An_cai
2
,3 , LIN
Feng
4
(1.
College
of
Automation
,
Harbin
Engineering
University
,
Harbin
150001
, China;
2.
Tianjin
Research
Institute
of
Construction
Machinery
, Tianjin
300409
, China;
3.
School
of
Mechatronics
Engineering
, Harbin Institute
of
Technology
,
Harbin
150080
, China;
4.
Information
and
Construction
Management
Center
,
Heilongjiang
University
,
Harbin
150080
, China)
Abstract:
From
the
economy
and
security standpoints, the
paper
presents
an
automatic mooring positio-
ning scheme that
can
find out the offshore platform position accurately
and
rapidly on the premise
of
ten-
sions'
uniform distribution. In the scheme,
the
optimal tensions were regarded as the thresholds
of
switc-
hing
the mooring lines. Considering
the
time-variance and uncertainty of the multiple-input
and
multiple-
output positioning system
under
the random disturbance, the fuzzy strategy was used to control the retrac-
tion
and
release of the mooring lines. The improved genetic algorithm which
can
improve the optimization
efficiency and convergence was adopted to optimize the tension
, and
the
genetic algorithm was improved
from two
aspects:
first , the method based on contraction was used to generate the initial population; sec-
ond
, local search was adopted in standard genetic algorithm. The simulation results show that the scheme
is
effective to balance the distribution
of
tensions and keep the position of offshore platform.
Key
words:
automatic mooring positioning; genetic algorithm; tension optimizing; local
search;
fuzzy control
收稿日期:
2012
-08 -30
基金项目:国家自然科学基金
(512790392)
;国家工业和信息化部海洋装备工程装备科研项目(工信厅装
[2
∞
9]91)
作者简介:全鸿章(1
946
一)
,男,教授,博士生导师,研究方向为船舶运动控制及特辅装置等;
苏晓宇
(1985-)
,女,博士研究生,研究方向为事海洋乎台定位技术及鲁棒控制;
于安才(1
978-)
,男,博士,工程师,研究方向为液压系统节能及控制技术;
林峰(1
979
一)
,男,硕士,工程师,研究方向为控制工程及网络应用。
通讯仰者:苏晓宇