【作者】 肖本华；

【导师】 边信黔；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2002， 硕士

【摘要】 本文以“大洋一号”海洋科学考察船为对象，在研究了“大洋一号”的普通动力定位模糊控制系统的基础上，以能量为评估函数，对输入中包含误差情况下的自动区域保持控制方法进行了有益的探讨。 动力定位船舶在海上受到风、浪、流的干扰，其运动具有很强的非线性、耦合性和大时滞性，采用常规的控制方法很难获得令人满意的控制效果。模糊控制作为一种智能控制方法，很适合于船舶动力定位系统这样复杂系统的控制。本文将模糊控制应用于船舶动力定位系统，解决了定点定位、艏向寻优，区域保持等问题，取得了令人满意的效果。 本文在船舶运动仿真系统的基础上，实现了对水面船舶动力定位的模糊控制。通过分析对模糊控制器优化的原理，提出了一种模糊控制器的优化方法，使基本模糊控制器的性能接近最优。该方法通过三个参数调整输入、输出隶属函数的分布，来达到改善系统的性能的目的，简单易行，对于模糊控制器的设计具有一定的实际意义。由于在最优艏向上横向受力最小，对于节省侧推功率具有很重要的意义，所以本文又提出了一种基于模糊逻辑的、根据横向运动进行的自动艏向寻优方法。该方法不依赖于传感器对环境要素的测量，艏向寻优和控制向结合，响应速度快，准确程度高。 最后本文通过对多种区域保持的控制方法进行比较，得到一种相对最节省能量的控制方法。该方法始终保持艏向接近平均最优艏向，根据纵向、横向偏差不完全控制纵向和横向，结果证明既相对最节省能量。当输入存在随机误差的情况下，采用常规的定点定位控制方法会导致推进器频繁改变状态，造成不必要的机械磨损，浪费很大的能量。如果不保证艏向，艏向变化幅度较大，调整艏向困难增大，能耗会随之很快增加。采用艏向自寻优方式同样艏向变化幅度较大，较之设定艏向方式能耗大。 本文的研究结果表明了模糊控制应用于船舶动力定位系统的可行性，以及保持艏向对于区域保持的重要意义。更多还原

【Abstract】 This paper is based on the ocean science exploring ship of Ocean 1. Beyond the work of analysis of ordinary dynamic positioning (DP) fuzzy controller, research on auto area keeping when inputs contain errors that can’t be neglected, energy as index function, is probed into.The marine environmental forces acting on the vessel are the wind, the current and the waves. The motion control system of a dynamic positioning system is a nonlinear, coupling, time-delay complicate system. It’s difficult to control the system effectively using the conventional control method. As an intellect control method, fuzzy logic control is very suitable control for such a complicate system. In this thesis fuzzy control method is applied to DP system. It has solved the problems such as accurate position-keeping, searching for most favorable heading (MFH), auto area keeping control, and has acquired satisfied control effect.In this thesis the author achieved fuzzy control to DP system on the basis of simulation system of ship’s motion. After analyzing the principles of optimizing basic fuzzy controller, a new method for optimization is proposed .The distribution of membership function of input and output can be adjusted by three parameters, which makes the control result approach to optimal. The method is simple and practicable, and is proved to be effective. And it will be of assist to design a fuzzy controller. When keeping MFH, the force acting on the vessel in the sway direction is lest, this will be of great importance for saving on energy. A technique of searching for MFH based on fuzzy logic is brought up, which adjusts the heading according to the lateral movement of the vessel. The technique is independent from measurement values and mathematic formula of environment factors, combining the acquiring for MFH and control, attaining fast response and a high degree of accuracy.A control method is brought up that is most fit for auto area keeping in comparison with several other control plans. The plan keeps the heading of the vessel close to mean MFH, and does not keeping controlling the sway direction and surge direction. When there is random error in input data, if position-keeping plan is applied, thrusters will change working status in high frequency that will lead to sever thrust wear and energy waste. And if the heading is not kept, it will be hard to control the vessel, or bring about heavy cost while adjusting the head.It shows that it’s feasible to apply fuzzy logic control to dynamic positioning更多还原