CN108490770A - A kind of thrust force distribution method of power location system of ship based on hybrid algorithm - Google Patents
A kind of thrust force distribution method of power location system of ship based on hybrid algorithm Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
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Abstract
The invention discloses a kind of thrust force distribution method of power location system of ship based on hybrid algorithm, belong to Ship Dynamic Positioning Systems Based technical field.Ship power thrust allocation optimization problems are solved by ant colony and artificial fish-swarm hybrid algorithm, are comprised the steps of：Input participates in the power and torque of surging, swaying and the yawing of thrust distribution；Set the size of each propeller thrust, the range of thrust variation rate, propeller azimuth rate and propeller azimuth forbidden zone；Resultant force suffered by ship, it is desirable that the resultant force and resultant moment that all propellers generate are equal with the input instruction for participating in thrust distribution；Thrust distribution mathematical model is established, and application ant colony and artificial fish-swarm hybrid algorithm solve the optimization problem of thrust distribution.Algorithm proposed by the present invention enhances the ability of traversal optimizing, overcomes the problem of being easily absorbed in local extremum, effectively the thrust command of three degree of freedom can be assigned on each propeller, solve the thrust assignment problem of dynamic positioning system.
Description
Technical field
The invention belongs to Ship Dynamic Positioning Systems Based technical fields, and in particular to a kind of ship power based on hybrid algorithm
Positioning system thrust distribution method.
Background technology
Development with the mankind to ocean development, mooring system cannot meet ocean engineering operation ship in deep-sea sea
Domain carries out the requirement of positioning operation, and Ship Dynamic Positioning Systems Based but can be well solved this problem.Past, ship are at sea made
When industry, if requiring it that operating location is kept to immobilize, people's generally use mooring system positions to realize.But with the depth of water
Increase or operating location sub-marine situations complexity when not allowing to cast anchor, mooring system is difficult to complete its keeping accommodation of the task,
So dynamic positioning system is for marine engineering equipment field, it has also become highly important system.
The thrust distribution of dynamic positioning system be calculated according to control system for realize the power that needs of dynamic positioning and
Turn bow torque, reasonable distribution is carried out to the thrust size and Orientation of each propeller on ship, to make each propeller collective effect produce
The raw power and torque met needed for ship control, to meet the needs of ship's fix.
Due to redundancy requirement, the ship equipped with dynamic positioning system is generally equipped with multiple propellers, therefore propeller distributes
There are multiple solutions can meet controller instruction for unit time.In the abrasion for considering energy consumption and ship operation and propeller
Under the premise of noise, thrust assignment problem can be attributed to optimization problem.
It finds by prior art documents, China Patent Publication No.：CN102508431A, patent name：It is a kind of
Thrust distribution method for power positioning system of offshore drilling platform；China Patent Publication No.：CN103092077A, patent name：It is dynamic
The thrust distribution method of power positioning system；With particle cluster algorithm and sequential quadratic programming method to dynamic positioning system thrust point
With optimization, ant colony and artificial fish-swarm hybrid algorithm are used to solve the thrust assignment problem of dynamic positioning system by this patent.
Intelligent optimization algorithm is the hot spot in recent domestic optimization field and engineering circles research, and wherein ant group algorithm is root
A kind of bionic Algorithm simulated and obtained according to Food Recruiment In Ants progress routing form, with good global search energy
Power, while accelerating formal similarity using positive feedback principle, in search process, ant individual can cooperate, and be conducive to pair
Solution space is further searched for, to be conducive to find preferably to solve；But there is also searched when solving large-scale problem for ant group algorithm
The rope time is long, convergence rate is slow and is susceptible to precocious stagnation behavior.Artificial fish-swarm algorithm is a kind of based on simulation fish school behavior
Optimization algorithm, in artificial fish-swarm, the main behavior of looking for food, bunch and knock into the back for utilizing the shoal of fish, from the bottom of one fish of construction
Behavior is done, and by the local optimal searching of each individual in the shoal of fish, achievees the purpose that global optimum reveals to come in group's convexity, should
Algorithm overcomes local extremum with good, obtains the ability of global extremum.Due to ant group algorithm easily with other heuritic approaches
It is combined, ant group algorithm and artificial fish-swarm algorithm have natural complementary characteristic, so proposing ant colony and artificial fish-swarm mixing
Algorithm.The early period of algorithm obtains ant group algorithm while several key points in improving ant group algorithm, using artificial fish-swarm algorithm
More excellent feasible solution, stage makes full use of the positive feedback of ant group algorithm, then to improve solution efficiency, while the shoal of fish being calculated
The concept of crowding is introduced into hybrid algorithm in method, to enhance the traversal optimizing ability of algorithm.Target is only used in algorithm
The functional value of function, the specific informations such as Grad without object function have certain adaptive ability to search space, calculate
Method to initial value without demand, it is also insensitive to the selection of each parameter.
Invention content
The purpose of the present invention is to provide reducing the consumption of energy, the abrasion of reduction propeller and avoiding singular structure, carry
A kind of thrust force distribution method of power location system of ship based on hybrid algorithm of the performance of high dynamic positioning system.
The purpose of the present invention is realized by following technical solution：
A kind of thrust force distribution method of power location system of ship based on hybrid algorithm, includes the following steps：
Step 1. establishes the thrust distribution model of dynamic positioning system, enables the input quantity τ=[τ for participating in thrust distributionX,τY,
τN], then
τ=B (α) u
Wherein u=[u1,u2,…,u8],
τX、τY、τNRespectively input longitudinally, laterally with the power and torque in yawing direction；U pushes away for what 8 propellers exported
Force vector；αiFor the azimuth of i-th of propeller rotation, lxi、lyiRespectively i-th of propeller is vertical with ship rotation center
To, lateral distance, B (α) is corresponding matrix；
Step 2. carries out initialization shoal of fish parameter：Initialization artificial fish-swarm scale M, every Artificial Fish initial position, regard
The parameters such as wild Visual and step-length Step, crowding factor delta, maximum repeated attempt number try_number, maximum iteration；
Step 3. reads in the information described in step 1 and step 2 in artificial fish-swarm algorithm, and the iteration time of more new algorithm
Number；
Every Artificial Fish of step 4. executes two kinds of behaviors respectively：(1) every Artificial Fish executes behavior of bunching, and default behavior is
Foraging behavior；(2) every Artificial Fish executes behavior of knocking into the back, and default behavior is foraging behavior；
Step 5. calculates each current fitness value of each Artificial Fish：The object function of thrust distribution optimization is the energy of propeller
Consumption, the abrasion of propeller, thrust error are minimum, and avoid singular structure.According to above consideration, following thrust point is established
With mathematical model, wherein object function is：
Wherein, first item STQS penalty terms refer to the error between lateral, longitudinal resultant force and flywheel moment and controller instruction
S.The major significance of this penalty term is to ensure that the resultant force that propeller generates can offset the external force of environmental factor effect aboard ship, institute
With, for weight matrix Q, the value on diagonal line should obtain it is sufficiently large, guarantee no matter when all meet S ≈ 0.Section 2 is total
Energy expenditure.Section 3 is to reduce the abrasion of propeller, wherein weight matrix for constraining azimuthal rate of change
Ω ＞ 0.Section 4 is that zero the case where occurs in denominator in order to prevent for avoiding singular structure, wherein ε ＞ 0, and ρ ＞ 0 are weights systems
Number can be adjusted in terms of operability and energy consumption.
Meet constraints below：
First item is for punishing thrust error, wherein S=[S in constraintsX,SY,SN] be respectively three directions thrust
Error；Section 2 is to limit the thrust magnitude range of propeller, and u represents the size of propeller power output, wherein uminFor propeller
The minimum thrust of output, umaxFor the maximum thrust of propeller output；Section 3 is to limit the size model of propeller rotational orientation angle
It encloses, α represents propeller rotational orientation angle, wherein αminFor minimum azimuth, αmaxFor maximum azimuth；Section 4 is that constraint promotes
The thrust variation rate of device, u0Indicate the thrust of propeller last moment, wherein Δ uminMost for current sample time thrust variation
Small changing value, Δ umaxFor the maximum changing value of current sample time thrust variation；Section 5 is to constrain the gyrobearing of propeller
The change rate at angle, α0Indicate the azimuth of propeller last moment, wherein Δ αminFor the azimuthal variation of current sample time
Minimum change value, Δ αmaxFor azimuthal maximum changing value of current sample time；Section 6 is in order to avoid azimuth is absorbed in
Thrust forbidden zone, αlFor the lower limit angle of propeller azimuth forbidden zone, αuFor the upper limit angle of propeller azimuth forbidden zone；
Step 6. respectively to every Artificial Fish compare two kinds of behaviors as a result, the better behavior of fitness value is executed, by people
The fitness value of work fish is compared with bulletin board, updates bulletin board with the good Artificial Fish of fitness value；
When the maximum number of iterations is reached, artificial fish-swarm algorithm terminates step 7., exports optimal solution (the i.e. state of Artificial Fish
With corresponding value)；
M human oasis exploited is placed in the n different solutions that step 7 exports, so by step 8. according to the initial solution of acquisition
Concurrently search m is corresponding with Optimum Solution afterwards travels, completion initial work, first, stagnation behavior in order to prevent
Appearance, the value range of pheromones is limited to [τmin,τmax], each initial value for solving pheromones in node each edge is：τij(0)
=τmax, whereinρ is pheromones volatility coefficient, LbestIndicate that corresponding global preferably solution or iteration are optimal
The path length of solution；
Step 9. calculates transition probability：Human oasis exploited after initialization path during cycle obtains feasible solution
Selection is that state probability determines that kth human oasis exploited selects node j as next at node i in being recycled according to epicycle
The probability of node is
In formula, τijFor the concentration of pheromones trace；ηijFor the heuristic information value of problem；α and β is respectively that pheromones are dense
Spend τijWith heuristic information value ηijThe corresponding relative effect factor；Indicate that kth human oasis exploited can be direct at node i
The set of the next node reached；
Step 10. pheromone concentration updates：After all human oasis exploiteds complete primary complete searching process, according to
τij(t+1)=(1- ρ) τij(t) pheromone concentration is updated.First according to pheromones volatilize rule to all pheromones on path into
Row volatilization, calculates Δ τij(t), Pheromone update then is carried out to global path：
τij(t+1)=(1- ρ) τij(t)+Δτij(t)
Δτij(t)=ρ × f (Lbest)
After Pheromone update, according to formulaTo determine pheromones
Measure τ in trackmin、τmax；
Step 11. repeats step 8,9,10, when the number of cycle reaches the maximum iteration N being previously set, or
Person part human oasis exploited has all selected same path fashion to move ahead, entire program determination；
The optimal distributing scheme that step 12. exports ant colony and artificial fish-swarm hybrid algorithm searches out, i.e., each propeller production
Raw thrust size and Orientation.
Input participates in the power and torque of surging, swaying and the yawing of thrust distribution；Set each propeller thrust size,
The range of thrust variation rate, propeller azimuth rate and propeller azimuth forbidden zone；Resultant force suffered by ship, it is desirable that
The resultant force and resultant moment that all propellers generate are equal with the input instruction for participating in thrust distribution；Establish thrust distribution mathematical modulo
Type, and application ant colony and artificial fish-swarm hybrid algorithm solve the optimization problem of thrust distribution.
The beneficial effects of the present invention are：
Ant colony and artificial fish-swarm hybrid algorithm are applied to thrust and distribute optimizing by the characteristics of being distributed present invention incorporates thrust
During, can the thrust distribution instruction of surging, swaying and yawing three degree of freedom be effectively assigned to each propeller
On, each propeller thrust variation is steady, and propeller azimuth does not enter into forbidden zone between propeller, can be effectively prevented from
The generation of singular structure；
Algorithm proposed by the present invention enhances the ability of traversal optimizing, overcomes the problem of being absorbed in local extremum, can
Effectively the thrust command of surging, swaying and yawing three degree of freedom is assigned on each propeller, to reduce propeller
Energy expenditure, solve the thrust assignment problem of dynamic positioning system.
Description of the drawings
Fig. 1 is dynamic positioning system structure chart；
Fig. 2 is marine propeller arrangement schematic diagram；
Fig. 3 is thrust allocation algorithm flow chart of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is Ship Dynamic Positioning Systems Based structure chart, is mainly made of measuring system, controller and thrust allocation unit,
From measuring system measure current ship position and bow to, and calculating is compared with setting value, then by the position measured and
Bow to data carry out signal processing and data fusion, then filtered position and bow are input to control to the deviation e (t) at angle
Device, controller generate control instruction by operation, after thrust allocation unit carries out thrust distribution, are transferred to executing agency and push away
Into device, propeller generates corresponding power and torque to resist the power and torque of external environment generation, to keep operation ship requiring
Position and bow it is upward.Thrust allocation optimization problems are mainly studied in the present invention, and control instruction is converted to and is transmitted to propeller
Thrust command.
Fig. 3 is the flow of the thrust force distribution method of power location system of ship based on ant colony and artificial fish-swarm hybrid algorithm
Figure, includes the following steps：
Step 1. establishes the thrust distribution model of dynamic positioning system, enables the input quantity τ=[τ for participating in thrust distributionX,τY,
τN], then
τ=B (α) u
Wherein u=[u1,u2,…,u8],
τX、τY、τNRespectively input longitudinally, laterally with the power and torque in yawing direction；U pushes away for what 8 propellers exported
Force vector；αiFor the azimuth of i-th of propeller rotation, lxi、lyiRespectively i-th of propeller is vertical with ship rotation center
To, lateral distance, B (α) is corresponding matrix；
Step 2. carries out initialization shoal of fish parameter：Artificial fish-swarm scale M=30, the initial position of every Artificial Fish be (0,
0), visual field Visual=2.5 and step-length Step=0.3, crowding factor delta=0.618, maximum repeated attempt number try_
Number=10, maximum iteration are 300 inferior parameters；
Step 3. reads in the information described in step 1 and step 2 in artificial fish-swarm algorithm, and the iteration time of more new algorithm
Number；
Every Artificial Fish of step 4. executes two kinds of behaviors respectively：(1) every Artificial Fish executes behavior of bunching, and default behavior is
Foraging behavior；(2) every Artificial Fish executes behavior of knocking into the back, and default behavior is foraging behavior；
Step 5. calculates each current fitness value of each Artificial Fish：The object function of thrust distribution optimization is the energy of propeller
Consumption, the abrasion of propeller, thrust error are minimum, and avoid singular structure.According to above consideration, following thrust point is established
With mathematical model, wherein object function is：
Wherein, first item STQS penalty terms refer to the error between lateral, longitudinal resultant force and flywheel moment and controller instruction
S.The major significance of this penalty term is to ensure that the resultant force that propeller generates can offset the external force of environmental factor effect aboard ship, institute
With, for weight matrix Q, the value on diagonal line should obtain it is sufficiently large, guarantee no matter when all meet S ≈ 0.Section 2 is total
Energy expenditure.Section 3 is to reduce the abrasion of propeller, wherein weight matrix for constraining azimuthal rate of change
Ω ＞ 0.Section 4 is that zero the case where occurs in denominator in order to prevent for avoiding singular structure, wherein ε ＞ 0, and ρ ＞ 0 are weights systems
Number can be adjusted in terms of operability and energy consumption.
Meet constraints below：
The requirement of object function is to minimize consumption and the reduction thrust error of fuel oil, wherein S=[SX,SY,SN] be respectively
The thrust error in three directions,For the sum of the energy expenditure of 8 propellers；Q, Ω is unit matrix；1#~8# is promoted
Device is all-direction propeller, and the minimum thrust of propeller is uminThe maximum thrust of=0kN, propeller are umax=540kN；1#
~8# propellers are rotated up to azimuth angle alphamax=360 °, minimum azimuth angle alphamin=0 °；Propeller current sample time thrust becomes
The minimum value Δ u of changemin=0kN, maximum changing value Δ umax=9kN；The azimuthal variation of propeller current sample time is most
Small changing value Δ αmin=0 °, maximum changing value Δ αmax=6 °；1# and 6# propellers azimuth limit of the prohibited area be (186 °,
216 °), 2# and 5# propellers azimuth limit of the prohibited area is (6 °, 36 °), 3# and 8# propellers azimuth limit of the prohibited area be (144 °,
174 °), 4# and 7# propellers azimuth limit of the prohibited area is (324 °, 354 °)；
Step 6. respectively to every Artificial Fish compare two kinds of behaviors as a result, the better behavior of fitness value is executed, by people
The fitness value of work fish is compared with bulletin board, updates bulletin board with the good Artificial Fish of fitness value；
When the maximum number of iterations is reached, artificial fish-swarm algorithm terminates step 7., exports optimal solution (the i.e. state of Artificial Fish
With corresponding value)；
M=50 human oasis exploited is placed on the n different solutions that step 7 exports by step 8. according to the initial solution of acquisition
On, then concurrently search m is corresponding with Optimum Solution travels, and completes initial work and stagnates in order to prevent first
The value range of pheromones is limited to [τ by the appearance of phenomenonmin,τmax], each initial value for solving pheromones in node each edge is：
τij(0)=τmax, whereinPheromones volatility coefficient ρ=0.7, LbestIndicate corresponding global preferably solution or
The path length of iteration optimal solution；
Step 9. calculates transition probability：The choosing in human oasis exploited path during cycle obtains feasible solution after initialization
Select is that state probability determines that kth human oasis exploited selects node j as next knot at node i in being recycled according to epicycle
Point probability be
In formula, τijFor the concentration of pheromones trace；ηijFor the heuristic information value of problem；Impact factor α=1, β=5；
Ui kIndicate the set for next node that kth human oasis exploited can be reached directly at node i；
Step 10. pheromone concentration updates：After all human oasis exploiteds complete primary complete searching process, according to
τij(t+1)=(1- ρ) τij(t) pheromone concentration is updated.First according to pheromones volatilize rule to all pheromones on path into
Row volatilization, calculates Δ τij(t), Pheromone update then is carried out to global path：
τij(t+1)=(1- ρ) τij(t)+Δτij(t)
Δτij(t)=ρ × f (Lbest)
After Pheromone update, according to formulaTo determine pheromones
Measure τ in trackmin、τmax；
Step 11. repeats step 8,9,10, when the number of cycle reaches the maximum iteration N=200 being previously set
When or part human oasis exploited all selected same path fashion move ahead, entire program determination；
The optimal distributing scheme that step 12. exports ant colony and artificial fish-swarm hybrid algorithm searches out, i.e., each propeller production
Raw thrust size and Orientation.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of thrust force distribution method of power location system of ship based on hybrid algorithm, which is characterized in that include the following steps：
Step 1. establishes the thrust distribution model of dynamic positioning system；
Step 2. initializes shoal of fish parameter：Initialize initial position, the visual field Visual of artificial fish-swarm scale M, every Artificial Fish
With step-length Step, crowding factor delta, maximum repeated attempt number try_number, maximum iteration；
Step 3. reads in the information described in step 1 and step 2 in artificial fish-swarm algorithm, and the iterations of more new algorithm；
Every Artificial Fish of step 4. executes two kinds of behaviors respectively：(1) every Artificial Fish executes behavior of bunching, and default behavior is to look for food
Behavior；(2) every Artificial Fish executes behavior of knocking into the back, and default behavior is foraging behavior；
Step 5. calculates each current fitness value of each Artificial Fish：Thrust distribution optimization object function be propeller energy consumption,
The abrasion of propeller, thrust error are minimum, and avoid singular structure；
Step 6. respectively to every Artificial Fish compare two kinds of behaviors as a result, the better behavior of fitness value is executed, by Artificial Fish
Fitness value be compared with bulletin board, bulletin board is updated with the good Artificial Fish of fitness value；
When the maximum number of iterations is reached, artificial fish-swarm algorithm terminates step 7., output optimal solution (the i.e. state of Artificial Fish and right
The value answered)；
M human oasis exploited is placed in the n different solutions that step 7 exports, then simultaneously by step 8. according to the initial solution of acquisition
Search for that m is corresponding with Optimum Solution to travel capablely, completion initial work, first, stagnation behavior goes out in order to prevent
It is existing, the value range of pheromones is limited to [τmin,τmax], each initial value for solving pheromones in node each edge is：τij(0)=
τmax, whereinρ is pheromones volatility coefficient, LbestIndicate corresponding global preferably solution or iteration optimal solution
Path length；
Step 9. calculates transition probability；
Step 10. pheromone concentration updates；
Step 11. repeats step 8,9,10, when the number of cycle reaches the maximum iteration N being previously set or portion
Divide human oasis exploited that same path fashion has all been selected to move ahead, entire program determination；
The optimal distributing scheme that step 12. exports ant colony and artificial fish-swarm hybrid algorithm searches out, i.e., what each propeller generated
Thrust size and Orientation.
2. a kind of thrust force distribution method of power location system of ship based on hybrid algorithm according to claim 1, special
Sign is that the step (1) is specially：
Enable the input quantity τ=[τ for participating in thrust distributionX,τY,τN],
τ=B (α) u
Wherein u=[u1,u2,…,u8],
τX、τY、τNRespectively input longitudinally, laterally with the power and torque in yawing direction；U is the thrust arrow of 8 propeller output
Amount；αiFor the azimuth of i-th of propeller rotation, lxi、lyiRespectively i-th of propeller is longitudinal, horizontal with ship rotation center
To distance, B (α) is corresponding matrix.
3. a kind of thrust force distribution method of power location system of ship based on hybrid algorithm according to claim 1, special
Sign is that the step (5) is specially：
(5.1) following thrust distribution mathematical model is established, wherein object function is：
Wherein, first item STQS penalty terms refer to laterally, error S between longitudinal resultant force and flywheel moment and controller instruction, second
It is total energy expenditure, for constraining azimuthal rate of change, wherein weight matrix Ω ＞ 0, Section 4 is used for Section 3
It is weight coefficient to avoid singular structure, wherein ε ＞ 0, ρ ＞ 0,
(5.2) following constraints is established：
First item is for punishing thrust error, wherein S=[S in constraintsX,SY,SN] it is respectively that the thrust in three directions is missed
Difference；Section 2 is to limit the thrust magnitude range of propeller, and u represents the size of propeller power output, wherein uminIt is defeated for propeller
The minimum thrust gone out, umaxFor the maximum thrust of propeller output；Section 3 is to limit the size model of propeller rotational orientation angle
It encloses, α represents propeller rotational orientation angle, wherein αminFor minimum azimuth, αmaxFor maximum azimuth；Section 4 is that constraint promotes
The thrust variation rate of device, u0Indicate the thrust of propeller last moment, wherein Δ uminMost for current sample time thrust variation
Small changing value, Δ umaxFor the maximum changing value of current sample time thrust variation；Section 5 is to constrain the gyrobearing of propeller
The change rate at angle, α0Indicate the azimuth of propeller last moment, wherein Δ αminFor the azimuthal variation of current sample time
Minimum change value, Δ αmaxFor azimuthal maximum changing value of current sample time；Section 6 αlFor propeller azimuth forbidden zone
Lower limit angle, αuFor the upper limit angle of propeller azimuth forbidden zone.
4. a kind of thrust force distribution method of power location system of ship based on hybrid algorithm according to claim 1, special
Sign is that the step (9) is specially：
Human oasis exploited after initialization shape during the selection in path is recycled according to epicycle during cycle obtains feasible solution
State probability determines, kth human oasis exploited selected at node i node j as next node probability for
In formula, τijFor the concentration of pheromones trace；ηijFor the heuristic information value of problem；α and β is respectively pheromone concentration τij
With heuristic information value ηijThe corresponding relative effect factor；Indicate that kth human oasis exploited can be reached directly at node i
Next node set.
5. a kind of thrust force distribution method of power location system of ship based on hybrid algorithm according to claim 1, special
Sign is that the step (10) is specially：
After all human oasis exploiteds complete primary complete searching process, according to τij(t+1)=(1- ρ) τij(t) to information
Plain concentration update, first volatilizees to all pheromones on path according to pheromones volatilization rule, calculates Δ τij(t), then
Pheromone update is carried out to global path：
τij(t+1)=(1- ρ) τij(t)+Δτij(t)
Δτij(t)=ρ × f (Lbest)
After Pheromone update, according to formulaTo determine pheromones track
Measure τmin、τmax。
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| CN109799826A (en) * | 2019-02-20 | 2019-05-24 | 上海振华重工(集团)股份有限公司 | The thrust distribution method of marine propulsion systems |
| CN109885061A (en) * | 2019-03-14 | 2019-06-14 | 哈尔滨工程大学 | A kind of dynamic positioning Multipurpose Optimal Method based on improvement NSGA- II |
| CN110336298A (en) * | 2019-08-17 | 2019-10-15 | 广东博慎智库能源科技发展有限公司 | A kind of idle planing method of the distribution containing distributed generation resource based on integrated intelligent algorithm |
| CN111049743A (en) * | 2019-12-13 | 2020-04-21 | 厦门大学 | Joint optimization underwater sound multi-hop cooperative communication network routing selection method |
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| CN109885061A (en) * | 2019-03-14 | 2019-06-14 | 哈尔滨工程大学 | A kind of dynamic positioning Multipurpose Optimal Method based on improvement NSGA- II |
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| CN111049743A (en) * | 2019-12-13 | 2020-04-21 | 厦门大学 | Joint optimization underwater sound multi-hop cooperative communication network routing selection method |
| CN111049743B (en) * | 2019-12-13 | 2021-03-23 | 厦门大学 | Joint optimization underwater sound multi-hop cooperative communication network routing selection method |
| CN111572729A (en) * | 2020-04-07 | 2020-08-25 | 哈尔滨工程大学 | Thrust distribution method of ship dynamic positioning system based on improved genetic algorithm |
| CN111812976A (en) * | 2020-06-06 | 2020-10-23 | 智慧航海(青岛)智能***工程有限公司 | Ship thrust distribution system and thrust distribution method |
| CN111959684A (en) * | 2020-08-11 | 2020-11-20 | 智慧航海（青岛）科技有限公司 | Anchoring positioning system and method based on intelligent ship |
| CN111959684B (en) * | 2020-08-11 | 2021-12-14 | 智慧航海（青岛）科技有限公司 | Anchoring positioning system and method based on intelligent ship |
| CN112327619A (en) * | 2020-10-22 | 2021-02-05 | 智慧航海（青岛）科技有限公司 | Thrust distribution optimization method based on multi-algorithm combination |
| CN112327619B (en) * | 2020-10-22 | 2022-12-09 | 智慧航海（青岛）科技有限公司 | Thrust distribution optimization method based on multi-algorithm combination |
| CN112506060B (en) * | 2020-12-15 | 2021-11-02 | 南通大学 | Ship thrust distribution method based on mixed group optimization algorithm |
| CN112506060A (en) * | 2020-12-15 | 2021-03-16 | 南通大学 | Ship thrust distribution method based on mixed group optimization algorithm |
| CN112763980A (en) * | 2020-12-28 | 2021-05-07 | 哈尔滨工程大学 | Target motion analysis method based on azimuth angle and change rate thereof |
| CN113075884A (en) * | 2021-03-29 | 2021-07-06 | 哈尔滨工程大学 | Thrust allocation method based on adaptive genetic-least square interconnection prediction system |
| CN113075884B (en) * | 2021-03-29 | 2022-07-15 | 哈尔滨工程大学 | Thrust distribution method based on adaptive genetic-least square interconnection prediction system |
| CN114620207A (en) * | 2022-03-16 | 2022-06-14 | 中船重工海洋装备(海南)有限公司 | Thrust distributor and thrust distribution method of underwater robot |
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