One kind of relaxation dynamic positioning control system based on model predictive control

The present invention discloses a control system based on dynamic positioning relaxation model predictive control, comprising: a sensor module, an extended Kalman filter, the chart calculation unit environmental interference compensator, controller, marine power plant. The sensor module includes a position reference system and the compass, the north-east coordinate information x, y, and ψ heading information transmitted to an extended Kalman filter; extended Kalman filter estimates the system state estimation information, the calculation unit generating state chart desired information, environmental disturbance compensator to obtain the interference power transmission environment to the controller, the controller comprising a nonlinear optimization and model predictive control, model predictive optimizer generates an optimal control value to an initial, non-linear model predictive generated control instructions to the marine power plant. Generating a control signal according to the present invention is a slowly varying, from an energy point of view is optimal, reduce energy consumption and wear of the effective means of propulsion.