【作者】 李博；

【导师】 王磊；

【作者基本信息】 上海交通大学 ， 船舶与海洋结构物设计制造， 2013， 硕士

【摘要】 随着人类对于海洋的探索和开发逐渐向深海迈进，海洋结构物的海上定位技术已成为海洋工程中的重点研究领域。动力定位系统利用推进器实现海洋结构物的位置与艏向角控制，它不受水深的限制，因而正逐渐广泛地应用在海洋工程领域中。本文针对动力定位系统传统的反馈控制在应对突变环境力时的不足，对海洋环境力的前馈控制技术进行了研究。文中首先介绍了动力定位系统的时域模拟的相关理论与方法，并构建了时域模拟程序；本文随后对动力定位推力系统中的推进器性能和推力分配方法进行了深入的探讨，首次提出了全回转推进器的动态禁止角概念以及可解决多种推进器组合的推力分配方法；本文详细理顺了动力定位系统环境力前馈的相关理论和研究进展，着重研究了波浪载荷前馈的方法，提出了一种简单的二阶波浪力实时估计方法，并利用时域模拟程序对于波浪载荷前馈的效果进行了研究，结果显示前馈信号的引入可以提高动力定位系统在突变环境载荷下的定位性能。更多还原

【Abstract】 As the exploration and exploitation of ocean is extending to the deep water, thepositioning technology of ocean structures has been one of the key research fields inocean engineering. Dynamic positioning (DP) system can keep ocean structures at thedesired position and heading angle by using active thrusters. Since the application ofDP system cannot be constrained by water depth, DP system has been widely used invarious applications of ocean engineering especially in deep water. Due to thedisadvantages of feedback control strategy in DP system dealing with rapid-changingenvironmental loads, the main topic in the thesis is the integration of feed-forwardcontrol strategy into DP system. In the first part of the thesis, the theories and methodsof constructing time-domain simulation program of DP system have been studied anda time-domain simulation program has been completed and tested as a tool for furtherresearch. The second part is mainly concerned with the thrust system in DP system,where a novel idea of dynamic forbidden sectors for azimuth thrusters has beenproposed and so has an effective thrust allocation strategy dealing with the layout ofvarious kinds of thruster including main thruster and rudder in DP system. Finally,after studying the theory and research progress in feed-forward control in DP system,a new kind of real-time estimate method of second-order wave loads is put forwardand integrated into the time-domain simulation program of DP system. The results ofsimulations show that feed-forward control of environmental loads is able to improvethe performance of DP system exposed to rapid-changing disturbances.更多还原