An Enhanced Fuzzy Control Strategy for Low-Level Thrusters in Marine Dynamic Positioning Systems Based on Chaotic Random Distribution Harmony Search


The required control force vector is distributed by the thrusters in marine dynamic positioning system (DPS) to obtain the desired thrust and angle of each thruster. The thrust of the thruster is mapped to the speed of the thruster, and the low-level thrust controller adjusts the speed of the thruster to achieve the vessel’s dynamic position. Based on the previous research, the permanent magnet synchronous motor (PMSM) is selected as the low-level driving motor, and it is combined with the propeller to form the low-level thrusters for the DPS. The fuzzy control strategy is selected for the PMSM controller design, and the proposed chaotic random distribution harmony search (CRDHS) algorithm is used to optimize the fuzzy controller rules’ weights. The proposed CRDHS employs a chaotic map for rule weight adaptation in order to prevent the conventional harmony search to get stuck on local solutions. By adjusting the weights of each fuzzy rule via CRDHS, more consistent control performance is achieved. The required fuzzy output and the fuzzy controller are used for control of the PMSM. Simulation results show that under load disturbance, the fuzzy controller based on CRDHS has better control performance.

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The authors would like to thank the anonymous reviewer for his/her valuable suggestions and comments which help improve the quality of the paper. The authors would also like to thank the financial support from the National Natural Science Foundation of China (51809113, 51249006), the Fujian Provincial Science and Technology Department (2019H0019), the Fujian Province Natural Science Foundation (2018J01494), the Fujian Education Department (FBJG20180056, JT180266) and the Program for New Century Excellent Talents in Fujian University (KB16078).

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Correspondence to Defeng Wu.

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Wu, D., Liao, Y., Hu, C. et al. An Enhanced Fuzzy Control Strategy for Low-Level Thrusters in Marine Dynamic Positioning Systems Based on Chaotic Random Distribution Harmony Search. Int. J. Fuzzy Syst. (2020).

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  • Dynamic positioning
  • Low-level controller
  • Permanent magnet synchronous motor
  • Fuzzy control
  • Chaotic random distribution harmony search