【摘要】 鉴于广义预测控制(GPC)方法能用同一方式处理设备和安全约束,且具有较强的抗扰动能力,提出了一种基于GPC的船舶动力定位约束控制器设计方法。运用前馈控制器克服风力扰动的影响,且所产生的前馈量被用来实时修正推力约束,在修正后的推力约束下滚动优化GPC。对承受风、浪、流扰动的某供应船,采用提出的方法设计控制器,并进行仿真验证。仿真结果表明,所设计的控制器抗扰动能力较强,能完成对船舶的动力定位约束控制。更多还原

【Abstract】 By the generalized predictive control technology(GPC), the same approach can be used to deal with equipment and security constraints and has strong disturbance rejection ability. The paper proposes a design method of constrained controllers for ship dynamic positioning systems based on GPC. The thrust feed forward is produced by a feed forward controller to overcome the impact of wind disturbance. Meanwhile the thrust feed forward value is used to perform real-time correction of the thrust Constraint. Under the modified thrust constraint, the generalized predictive controller is rolling optimized. The simulations are carried out to verify the performance of the dynamic positioning ship with the designed constrained controller under disturbances induced by wind, wave and current. The simulation results show that the controller has strong disturbance rejection ability and can realize the ship dynamic positioning constrained control.更多还原