AUTOMATIC ADJUSTMENT OF THE DYNAMIC POSITIONING SYSTEM REDUNDANT STRUCTURE BY DETERMINANT
https://doi.org/10.33815/2313-4763.2025.1.30.016-030
Abstract
The object of the study is the dynamic positioning processes of a vessel with two stern azipods and a bow thruster. Automation of motion control processes allows to significantly increase the efficiency of control systems by using modern methods of information processing, including optimization, and is used in many industries: space, aviation, marine, welding production, etc. New opportunities for increasing the efficiency of control systems have appeared with the use of redundant control. Redundant structures of actuators have traditionally been used for redundancy and increasing the reliability of control systems by excluding failed devices from operation. Over time, they have also been used to optimize control processes. In the marine industry, redundant structures have become most widespread in dynamic positioning systems. One of the requirements for such systems is to ensure maximum accuracy of positioning processes, including under the influence of external influences from any direction. According to the authors, this ability of the control system can be ensured by maximum dilution of the control vectors of the structure (maximization of the determinant). The paper developed a method for tuning a redundant structure that provides this possibility. The obtained result is explained by: using the on-board computer in the control system; finding the optimal state of the structure at each step of the on-board computer, which is determined by the maximum determinant, taking into account the constraints of the type of equalities, to create the necessary controls by the structure, and the type of inequalities, to take into account the constraints of the structure on the maximum thrust force and the angle of rotation of the screws; reconfiguring the structure to a certain optimal position. The operability and effectiveness of the method are confirmed by mathematical modeling in the MATLAB environment. The modeling results showed that the reconfiguration of the structure can be carried out against the background of the execution of the main functional tasks, without creating disturbing forces and moments. The obtained results are reproducible and can be used in the design of dynamic positioning systems.
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