Research on Ship Dynamic Positioning Control System Based on Stair-Like Implicit Predictive Control Algorithm

摘要

In this paper, the control method of dynamic positioning system is studied. The implicit general predictive control (GPC) algorithm is used to design the controller for the positioning vessel. Implicit algorithm does not need to solve complicated Diophantine equation online, thereby greatly reducing the computational complexity. But this traditional algorithm is flawed. On the one hand is still a large amount of computation, on the other hand is the need for matrix operations and in the calculation cannot guarantee the matrix reversible. And further problems of pathological values may arise. So there is a big security risk in actual industrial control. In this paper, a stair-like strategy is introduced into GPC as an improvement algorithm, which not only has the advantages of implicit GPC algorithm, but also avoid solving the inverse matrix online. Through the simulation results of the ship dynamic positioning system, it can be seen that the improved GPC algorithm has good performance, which improves the positioning accuracy and performance of the positioning system.