CN111452933A - Thrust redistribution method under failure condition of ship dynamic positioning ship propeller - Google Patents
Thrust redistribution method under failure condition of ship dynamic positioning ship propeller Download PDFInfo
- Publication number
- CN111452933A CN111452933A CN202010262931.4A CN202010262931A CN111452933A CN 111452933 A CN111452933 A CN 111452933A CN 202010262931 A CN202010262931 A CN 202010262931A CN 111452933 A CN111452933 A CN 111452933A
- Authority
- CN
- China
- Prior art keywords
- propeller
- thrust
- fault
- redistribution
- ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention provides a thrust redistribution method under the condition of a ship dynamic positioning ship propeller failure. The method mainly comprises the following steps: 1. the partial fault and the complete fault are classified based on different fault degrees, and the fault type is applied to thrust distribution. 2. And establishing an optimization model under a fault mode based on a method of the maximum thrust fault coefficient of the propeller. 3. A method for determining thrust redistribution of a dynamic positioning system propeller. And selecting a genetic algorithm as an optimization solving method of the control system, and determining a criterion for solving optimization control distribution. The invention establishes an appropriate fault model for different fault types and degrees. In order to ensure that the ship continues to work safely under the condition of propeller failure, different failure types of the propeller are analyzed, and control distribution parameters of a propulsion system are reconstructed.
Description
Technical Field
The invention relates to a thrust redistribution method for a ship dynamic positioning ship propeller, in particular to a thrust redistribution method under the condition of a ship dynamic positioning ship propeller failure.
Background
The actuating device of the dynamic positioning ship control system is a propulsion system, the propulsion system consists of various propellers, and most of the reasons for the failure of the control system are caused by the failure of the propellers. Therefore, the control strategy of the dynamic positioning control system under the condition that the propeller has a fault determines the safety of the ship navigation and operation. If a fault occurs in the propulsion system, the control system does not timely process the fault, the stability of the ship in operation is affected, and even serious accidents occur. Foreign and domestic scholars have many research achievements on the control distribution reconstruction of a propulsion system under the fault condition of a dynamic positioning ship, but the research on the online self-adaptive adjustment of control distribution parameters by selecting a proper intelligent optimization algorithm is not mature, and a plurality of problems still exist to be solved urgently.
Disclosure of Invention
The invention aims to provide a thrust redistribution method under the condition of a ship dynamic positioning ship propeller fault, which can redistribute the thrust in an online self-adaptive manner.
The purpose of the invention is realized as follows:
step one, a state monitoring and diagnosing unit detects state information of a propulsion system in real time and classifies fault states;
establishing an optimization model in a fault mode by using a method of a maximum thrust fault coefficient of a propeller;
and step three, determining thrust redistribution of the dynamic positioning system propeller by utilizing a genetic algorithm.
The thrust redistribution method under the condition of the ship dynamic positioning ship propeller failure can further comprise the following steps:
1. the first step specifically comprises the following steps: dividing the fault into partial fault and complete fault according to the fault degree, and setting the loss coefficient s of the maximum thrust of the propelleriWhen the propeller is not operating in fault si1 is ═ 1; when partial failure of propeller occurs, 0 < siLess than 1; when the spiral shellWhen the propeller has a complete failure si＝0。
2. The second and third steps specifically include: calculating the priority use level of the propeller under the condition that the propeller fails by adopting a priority value adjusting method, carrying out angle redistribution under a failure mode, optimizing the reconstruction control distribution parameters by utilizing a genetic algorithm, wherein the expression of the optimized distribution is as follows:
the constraint conditions satisfied by the expression are:
wherein, WuThe weighting matrix of the propeller system is a positive definite diagonal matrix, and the weighting matrix is a unit matrix E under the condition that the propeller system has no fault; tau isdThe desired control resultant force and resultant moment; t ismaxThe rated thrust value of the propeller.
3. In the method for calculating the priority use level of the propeller by adopting the priority weight value adjustment method under the condition that the propeller fails, the weight matrix of the propeller is a diagonal matrix:
the adopted weighting coefficient adjustment strategy is as follows:
in the formula: the lambda is a constant number which is,
the thrust redistribution strategy under the failure mode is as follows:
Ti'＝wiTi
wherein, Ti' is the magnitude of the thrust after the fault.
4. The redistribution strategy for angle redistribution in the failure mode is as follows:
αi'＝αi
αi' is the full-turn propeller azimuth after the fault,
the optimization model under the failure mode is reconstructed as follows:
5. in optimizing the reconfiguration control allocation parameters by using the genetic algorithm, the fitness function is as follows:
minf(T,α)＝p1||BT-τd||2+p2||WuT||2
where B (α) is a control matrix describing propeller configuration as a function of propeller output angle α, T is a thrust matrix for the propulsion system, and τdThe desired control resultant force and moment for the control system; wuA weight matrix is preferentially used for the thruster; t isminAnd TmaxThe lower limit and the upper limit of the thrust value of the propeller are set; is a thrust forbidden zone angle of the propeller; p is a radical of1And p2Is the corresponding weight.
The method and the device establish proper fault models aiming at different fault types and degrees, and reconstruct the control distribution parameters of the propulsion system. And reconstructing the thrust redistribution optimization model in a fault mode, and selecting a proper algorithm to solve the thrust redistribution optimization.
The technical scheme of the invention mainly comprises the following steps: classifying fault states; reconstructing an optimization model in a fault mode; controlling selection of a distribution reconstruction method; and optimizing and solving the control distribution criterion.
The invention has the characteristics and beneficial effects that:
1. the invention completes the fault state classification, and when the dynamic positioning ship sails in a small range or works at a fixed position, the propeller is easy to break down. Propeller faults can be divided into two main categories: internal faults and external faults;
2. the method completes the reconstruction of an optimization model under a fault mode, and comprises the selection of a thrust redistribution strategy and the selection of an angle redistribution strategy;
3. the invention completes the selection of the control distribution reconstruction method;
4. the method establishes a criterion for optimizing, solving and controlling distribution, and adopts the principle that the deviation of a propulsion system output resultant force and resultant moment matrix and an expected control resultant force and resultant moment matrix is minimum, and the output force and the moment after a propeller weight matrix is added are minimum as an optimization target of a thrust distribution control algorithm. And the two-norm of the matrix is taken as a metric to satisfy the control distribution optimization criteria. Weight p of fitness function1The ratio of the output cooperative force to the output torque to the difference value of the expected cooperative force to the output torque, and the weight p2Is the core of the regulating controller, and the parameter determines whether the fitness function can achieve the thrust redistribution.
Drawings
FIG. 1 is a flow chart of a standard genetic algorithm;
FIG. 2 is p2The weights are different in resultant force and heading moment;
FIG. 3 is p2Outputting a comparison graph by the thrust of the thruster when the weights are different;
FIG. 4 is p2Comparing the propeller rotation angles with different weights;
fig. 5 is a schematic diagram of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in further detail with reference to fig. 1 to 4 and a detailed description thereof, wherein fig. 1 is a flow chart of a standard genetic algorithm; FIG. 2 is p2The weights are different in resultant force and heading moment; FIG. 3 is p2Outputting a comparison graph by the thrust of the thruster when the weights are different; FIG. 4 is p2The weights are different, and the propeller rotation angles are compared with each other.
The purpose of the invention is realized by the following steps:
1. fault status classification
When a dynamically positioned vessel is sailing in a small area or operating in a fixed location, the propeller is more prone to failure and the type of failure is unpredictable. There are two main categories: internal faults and external faults.
The reasons for internal failures are mainly: the temperature of the internal windings of the motor powering the propeller exceeds the maximum temperature defined by the motor; the communication between the gearbox control unit and the core processor is interrupted, and the gearbox control unit cannot receive a control command of the main processor or the core processor cannot receive feedback information of the gearbox control unit; the drop of the bus voltage and the instability of the output voltage of the total power supply cause the drop of the bus voltage, the driving capability does not meet the specified requirements, and the like.
The reasons for the occurrence of external faults are mainly: propeller seizure, such as by entanglement with certain ribbons or floes in the ocean, causes propeller motion to stop; the propeller is damaged, the ship touches reef or iceberg and the like in the automatic driving process, so that the blade damage of the main propeller occurs, and the like.
2. Optimization model reconstruction in failure mode
When the fault diagnosis unit detects a fault, a fault coefficient s of the maximum thrust of the propeller is set according to different fault types and fault degreesiWhen the propeller is not operating in fault si1 is ═ 1; when partial failure of propeller occurs, 0 < siLess than 1; when the propeller is completely out of order, s i0. Expressed using an inequality as:
in the formula, siThe maximum thrust loss coefficient for propeller failure.
(1) Thrust redistribution strategy selection
The priority value adjusting method calculates the priority use level of the propeller and increases the weight value of the failed propeller under the condition that the propeller fails, so that the priority use level of the failed propeller is reduced, and the purpose of thrust redistribution is achieved. The failure propeller is weighted, so that the condition that the propeller fails completely can be met, and the propeller can be effectively adjusted when partial failure occurs.
The method has the optimization goal of obtaining the minimum objective function value, and the larger the weight of the propeller is, the smaller the thrust component is distributed correspondingly. The thrust distribution weighted value of the faulty propeller is increased, so that the aim of reducing the workload borne by the faulty propeller in thrust distribution is fulfilled, the fault degree of the faulty propeller is prevented from further worsening, and the reliability and the safety of the dynamic positioning system can be ensured. Weight matrix W of propelleruA diagonal matrix:
the weighting factor w usediThe adjustment strategy is as follows:
in the formula: λ is constant, in order to prevent when siIs zero time wiIs an infinite value.
The thrust redistribution strategy under the failure mode is as follows:
Ti'＝wiTi
wherein, TiAnd Ti' thrust magnitudes before and after a fault are respectively.
(2) Angle reallocation strategy selection
The dynamic positioning ship researched by the invention is provided with the full-rotation propeller, and when the full-rotation propeller fails to rotate due to some reasons, for example, a rotation mechanism has a jamming fault, the full-rotation propeller can be regarded as a propeller with a fixed azimuth angle, and the azimuth angle is a thrust angle immediately before the propeller fails. The full-rotation propeller continuously participates in thrust redistribution on the basis.
Therefore, the angle reallocation strategy in the failure mode is:
αi'＝αi
wherein, αiAnd αi' full-turn propeller azimuth before and after failure, respectively.
The optimization model under the failure mode is reconstructed as follows:
3. selection of control allocation reconfiguration methods
As shown in FIG. 1, the genetic algorithm has strong robustness in the aspect of reconstruction and optimization of the control law of the propulsion system, and has great advantages in the aspect of nonlinear and multi-objective function optimization of the propulsion system with the full-circle rotary propeller. The invention selects the genetic algorithm as an optimization method, so that the genetic algorithm is suitable for optimizing the reconstruction control distribution parameters under the condition of the propeller fault of the dynamic positioning ship. Initializing a standard genetic algorithm: binary coding is adopted, the number of population individuals is 40, the precision of the variables is 20 bits, each chromosome comprises 6 variables, the ditch selection is 0.9, the gene crossing rate is 0.7, the gene crossing mode is single-point crossing, the gene variation rate is 0.7/20 which is 0.035, the gene variation adopts basic bit variation, the selection method is a roulette operator, filial generations are selected based on fitness to eliminate parents, and therefore a new population is formed, the evolution generation number is 200, and the lambda is 0.001.
The fitness function needs to satisfy the requirement of solving thrust redistribution and optimize the thrust distribution performance of the propulsion system, so that weights are distributed to the fitness function and the thrust redistribution performance, and an optimized solution objective function is generated, wherein the fitness function f (T, α) is as follows:
minf(T,α)＝p1||BT-τd||2+p2||WuT||2
wherein B is a control matrix describing the propeller configuration and is a function of the propeller output angle αCounting; t is a thrust matrix of the propulsion system; tau isdThe desired control resultant force and moment for the control system; wuA weight matrix is preferentially used for the thruster; t isminAnd TmaxThe lower limit and the upper limit of the thrust value of the propeller are set; is a thrust forbidden zone angle of the propeller; p is a radical of1And p2And the corresponding weight value can be adjusted according to the optimization requirement of the objective function. The simulation results when the P2 weights are different are shown in fig. 2, 3 and 4.
4. Criteria for optimizing solution control distribution
In the case of a propeller failure, the primary consideration for a dynamically positioned vessel is the error between the resultant thrust output force and resultant torque of the propulsion system and the expected resultant force and resultant torque. The thrust distribution control of the dynamic positioning ship with the propeller redundancy is to make up the thrust loss of a failed propeller by using the residual thrust performance of the failed propeller and the vector force of other propellers under the condition that the propeller fails, and the main purpose is to keep the dynamic positioning ship to maintain the original control performance and keep the ship to continue to operate. The first criterion for thrust sharing is to reduce the deviation between the resultant forces and moments of the propeller output and the expected resultant forces and moments in the event of a failure of the propulsion system. The second criterion for thrust allocation is to minimize the two-norm of the inner product of the thrust output matrix and the propeller weight matrix. Through the propeller weight matrix, the priority use weight of the fault propeller is increased, the thrust distribution grade of the fault propeller is reduced, the thrust output by the fault propeller is reduced, the thrust output of other propellers is increased, the thrust loss of the fault propeller is compensated, and the resultant force and resultant moment of the ship after optimized distribution can reach the expected index. Unnecessary thrust loss of a propulsion system is reduced, the two full-rotation propellers are prevented from generating a singular state that the thrust is equal in magnitude and opposite in direction, and fuel consumption is indirectly reduced.
The optimal distribution problem is described by a mathematical expression as:
so that the expression satisfies the following constraint:
in the formula, WuThe weighting matrix of the propeller system is a positive definite diagonal matrix, and the weighting matrix is a unit matrix E under the condition that the propeller system has no fault;
is a thrust forbidden zone angle of the propeller; tau isdThe desired control resultant force and resultant moment; t ismaxThe rated thrust value of the propeller.
Claims (9)
1. A thrust redistribution method under the condition of a ship dynamic positioning ship propeller fault is characterized by comprising the following steps:
step one, a state monitoring and diagnosing unit detects state information of a propulsion system in real time and classifies fault states;
establishing an optimization model in a fault mode by using a method of a maximum thrust fault coefficient of a propeller;
and step three, determining thrust redistribution of the dynamic positioning system propeller by utilizing a genetic algorithm.
2. The thrust redistribution method for the ship dynamic positioning ship propeller failure condition as claimed in claim 1, wherein said step one specifically comprises: dividing the fault into partial fault and complete fault according to the fault degree, and setting the loss coefficient s of the maximum thrust of the propelleriWhen the propeller is not operating in fault si1 is ═ 1; when partial failure of propeller occurs, 0 < siLess than 1; when the propeller is completely out of order, si＝0。
3. The thrust redistribution method for the ship dynamic positioning ship propeller failure condition according to claim 1 or 2, wherein the second and third steps specifically comprise: calculating the priority use level of the propeller under the condition that the propeller fails by adopting a priority value adjusting method, carrying out angle redistribution under a failure mode, optimizing the reconstruction control distribution parameters by utilizing a genetic algorithm, wherein the expression of the optimized distribution is as follows:
the constraint conditions satisfied by the expression are:
wherein, WuThe weighting matrix of the propeller system is a positive definite diagonal matrix, and the weighting matrix is a unit matrix E under the condition that the propeller system has no fault; tau isdThe desired control resultant force and resultant moment; t ismaxThe rated thrust value of the propeller.
4. The thrust redistribution method for the propeller of the dynamic positioning ship of claim 3, wherein the thrust redistribution method comprises the following steps: in the method for calculating the priority use level of the propeller by adopting the priority weight value adjustment method under the condition that the propeller fails, the weight matrix of the propeller is a diagonal matrix:
the adopted weighting coefficient adjustment strategy is as follows:
in the formula: the lambda is a constant number which is,
the thrust redistribution strategy under the failure mode is as follows:
Ti'＝wiTi
wherein, Ti' is the magnitude of the thrust after the fault.
5. The thrust redistribution method under the condition of the ship dynamic positioning ship propeller failure as claimed in claim 3, wherein the redistribution strategy for angle redistribution under the failure mode is as follows:
αi'＝αi
αi' is the full-turn propeller azimuth after the fault,
the optimization model under the failure mode is reconstructed as follows:
6. the thrust redistribution method under the condition of the ship dynamic positioning ship propeller failure as recited in claim 4, wherein the redistribution strategy for angle redistribution under the failure mode is as follows:
αi'＝αi
αi' is the full-turn propeller azimuth after the fault,
the optimization model under the failure mode is reconstructed as follows:
7. the thrust redistribution method for the propeller of the dynamic positioning ship of claim 3, wherein the thrust redistribution method comprises the following steps: in optimizing the reconfiguration control allocation parameters by using the genetic algorithm, the fitness function is as follows:
min f(T,α)＝p1||BT-τd||2+p2||WuT||2
where B (α) is a control matrix describing the propeller configuration, is the propeller output angle αA function of (a); t is a thrust matrix of the propulsion system; tau isdThe desired control resultant force and moment for the control system; wuA weight matrix is preferentially used for the thruster; t isminAnd TmaxThe lower limit and the upper limit of the thrust value of the propeller are set; is a thrust forbidden zone angle of the propeller; p is a radical of1And p2Is the corresponding weight.
8. The thrust redistribution method for the propeller failure condition of the dynamically positioned ship of claim 4, wherein: in optimizing the reconfiguration control allocation parameters by using the genetic algorithm, the fitness function is as follows:
min f(T,α)＝p1||BT-τd||2+p2||WuT||2
where B (α) is a control matrix describing propeller configuration as a function of propeller output angle α, T is a thrust matrix for the propulsion system, and τdThe desired control resultant force and moment for the control system; wuA weight matrix is preferentially used for the thruster; t isminAnd TmaxThe lower limit and the upper limit of the thrust value of the propeller are set; is a thrust forbidden zone angle of the propeller; p is a radical of1And p2Is the corresponding weight.
9. The thrust redistribution method for the propeller failure condition of the dynamic positioning ship of claim 5, wherein: in optimizing the reconfiguration control allocation parameters by using the genetic algorithm, the fitness function is as follows:
min f(T,α)＝p1||BT-τd||2+p2||WuT||2
wherein B (α) is control describing propeller configurationA matrix of propeller output angle α, T is a thrust matrix of the propulsion system, and taudThe desired control resultant force and moment for the control system; wuA weight matrix is preferentially used for the thruster; t isminAnd TmaxThe lower limit and the upper limit of the thrust value of the propeller are set; is a thrust forbidden zone angle of the propeller; p is a radical of1And p2Is the corresponding weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262931.4A CN111452933A (en) | 2020-04-07 | 2020-04-07 | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262931.4A CN111452933A (en) | 2020-04-07 | 2020-04-07 | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111452933A true CN111452933A (en) | 2020-07-28 |
Family
ID=71673995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010262931.4A Withdrawn CN111452933A (en) | 2020-04-07 | 2020-04-07 | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111452933A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126503A (en) * | 2021-04-28 | 2021-07-16 | 上海海事大学 | Intelligent ship thrust distribution method considering propeller faults |
| CN114194347A (en) * | 2022-01-05 | 2022-03-18 | 广东海洋大学 | Dynamic positioning method, device, equipment and medium of semi-submersible type ocean platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN107742026A (en) * | 2017-10-16 | 2018-02-27 | 江苏科技大学 | A kind of Ship Dynamic Positioning Systems Based method for estimating nonlinear state |
| CN109298632A (en) * | 2018-09-01 | 2019-02-01 | 哈尔滨工程大学 | Autonomous type underwater robot propeller fault tolerant control method based on sliding Mode Algorithm Yu the secondary adjustment of thrust |
| CN110320801A (en) * | 2019-06-25 | 2019-10-11 | 西北工业大学 | A kind of Autonomous Underwater Vehicle propeller fault tolerant control method |
| CN110794682A (en) * | 2019-11-26 | 2020-02-14 | 上海海事大学 | Thrust distribution method for multi-propeller rotatable ship |
-
2020
- 2020-04-07 CN CN202010262931.4A patent/CN111452933A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN107742026A (en) * | 2017-10-16 | 2018-02-27 | 江苏科技大学 | A kind of Ship Dynamic Positioning Systems Based method for estimating nonlinear state |
| CN109298632A (en) * | 2018-09-01 | 2019-02-01 | 哈尔滨工程大学 | Autonomous type underwater robot propeller fault tolerant control method based on sliding Mode Algorithm Yu the secondary adjustment of thrust |
| CN110320801A (en) * | 2019-06-25 | 2019-10-11 | 西北工业大学 | A kind of Autonomous Underwater Vehicle propeller fault tolerant control method |
| CN110794682A (en) * | 2019-11-26 | 2020-02-14 | 上海海事大学 | Thrust distribution method for multi-propeller rotatable ship |
Non-Patent Citations (1)
| Title |
|---|
| 邵希胜: "船舶动力定位***推进器故障下推力分配研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126503A (en) * | 2021-04-28 | 2021-07-16 | 上海海事大学 | Intelligent ship thrust distribution method considering propeller faults |
| CN114194347A (en) * | 2022-01-05 | 2022-03-18 | 广东海洋大学 | Dynamic positioning method, device, equipment and medium of semi-submersible type ocean platform |
| WO2023131046A1 (en) * | 2022-01-05 | 2023-07-13 | 广东海洋大学 | Dynamic positioning method and apparatus for semi-submersible ocean platform, and device and medium |
| US11789448B1 (en) | 2022-01-05 | 2023-10-17 | Guangdong Ocean University | Method, device, equipment and medium for dynamic positioning of semi-submersible offshore platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cho et al. | Model-based fault detection, fault isolation and fault-tolerant control of a blade pitch system in floating wind turbines | |
| CN111452933A (en) | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller | |
| JP5022378B2 (en) | Method and system for testing power management systems for ships | |
| CN105301963B (en) | A kind of thrust optimizing distribution method based on ship power management system | |
| CN106527133A (en) | Multi-paddle coordination control distribution method for ship | |
| Yadav et al. | Optimal thrust allocation for semisubmersible oil rig platforms using improved harmony search algorithm | |
| CN110187689B (en) | Active anchoring positioning optimization control method and system | |
| CN104149960B (en) | Petrol-electric self-hybrid power propelling system applied to inland water transport ships | |
| CN114046259B (en) | Centrifugal pump variable frequency control method based on double neural network model | |
| CN101498926A (en) | Large wind turbines optimization control system with layered hierarchical structure | |
| CN108255062A (en) | The energy saving thrust distribution method of dynamic positioning based on improved differential evolution mechanism | |
| CN115693646A (en) | Two-stage optimization scheduling method considering source-load low carbon property and CCGP (conditional common Generation protocol) | |
| CN111572729A (en) | Thrust distribution method of ship dynamic positioning system based on improved genetic algorithm | |
| CN109301863B (en) | Low-wind-speed distributed wind power microgrid frequency modulation method based on deep belief network | |
| Radan et al. | Optimization of load dependent start tables in marine power management systems with blackout prevention | |
| CN113126503B (en) | Intelligent ship thrust distribution method considering propeller faults | |
| CN113152595A (en) | Variable-frequency constant-pressure water supply system and energy-saving control method thereof | |
| Liu et al. | Ballast water dynamic allocation optimization model and analysis for safe and reliable operation of floating cranes | |
| CN112628070B (en) | Method and module for controlling pitching resistance increasing of floating platform of offshore floating type wind turbine generator | |
| Kou et al. | Fault-tolerant Control for Trajectory Tracking of Underactuated Unmanned Surface Vehicles with Actuator Faults | |
| Ma et al. | Identification and Prediction of Propeller Ventilation Based on Stacked Lgbm-Lstm-Rf-Xgb Model | |
| Su | Anti-rolling fin control for ship stabilization | |
| CN116104695A (en) | Typhoon-resistant control method and system for large-scale semi-direct-drive offshore wind turbine generator | |
| Fadili et al. | Fault tolerant control for wind turbine system based on model reference adaptive control and particle swarm optimization algorithm | |
| KR102631022B1 (en) | Hybrid power plant operation method in independent system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200728 |
|
| WW01 | Invention patent application withdrawn after publication |