| 主权项 |
1. A dynamic positioning system, comprising
a controller configured to control thrusters, comprising:
a processor; anda memory having stored thereon computer-executable instructions which, when executed by the processor, cause the processor to perform operations comprising:
predicting, by the processor, a maximum radial position error and a final radial position error, wherein the maximum radial position error is a maximum distance between a position of a vessel and a target position during a time period, and wherein the final radial position error is a distance between the position of the vessel and the target position at an end of the time period; andcalculating, by the processor, thrust forces for efficient control when each of:
a start position is inside a working area, wherein the start position is the position of the vessel at a beginning of the time period;the maximum radial position error is inside a operating area;the final radial position error is inside the working area;the calculating the thrust forces for efficient control comprising calculating, by the processor, thrust forces that are substantially constant with respect to thrust forces at a previous time step;
calculating, by the processor, thrust forces for scaled control when the start position is outside the working area the calculation including a gain that is scaled based on a distance between the start position and an edge of the working area and wherein the gain is scaled by a multiplier based on:
γ=(pstart−Rin)/(Rout−Rin) wherein pstart is the start position, Rin is a radius of the working area, and Rout is a radius of the operating area. |
