【作者】 王瑞；

【导师】 杜佳璐；

【作者基本信息】 大连海事大学 ， 控制科学与工程， 2014， 硕士

【摘要】 随着世界人口的增加、经济的迅速发展,人类对陆地资源的消耗日益加剧,陆地能源短缺问题越来越突出,开发和利用丰富的海洋资源具有越来越重要的现实意义。随着海洋开发不断向深海远海进军,传统的锚泊定位系统已经不能满足定位作业的要求,这促使了动力定位系统的产生。70年代后期,在工业过程领域内出现了一种新的控制算法,即预测控制算法。预测控制算法的飞速发展为动力定位控制器的设计提供了新的途径。船舶动力定位系统是一个多输入多输出的闭环控制系统。动力定位船舶会受到不确定海洋环境扰动的影响,无法建立精确的船舶运动数学模型。预测控制具有对模型精度要求不高、响应速度快和鲁棒性好等优点。本文首先推导出船舶水面三自由度运动数学模型,并建立了海洋扰动力模型。然后,在考虑海洋扰动未知的条件下,针对动力定位船舶艏摇角度变化较小情况,应用动态矩阵预测控制算法设计船舶动力定位控制器。进一步,针对动力定位船舶艏摇角度变化任意大情况下的动力定位问题,引入自校正技术,应用广义预测控制设计船舶动力定位控制器。以一艘供给船为例在Matlab/Simulink环境下分别对上述控制器进行仿真,通过仿真结果分析验证了所提出的控制方案的有效性。最后,本文应用Creator软件创建动力定位船舶和钻井平台三维模型,利用Vega构建虚拟仿真海洋环境,基于此,通过VC与Matlab混合编程实现动力定位三维仿真平台的开发,并以基于广义预测控制的船舶动力定位控制器为例在该平台上进行了三维仿真。更多还原

【Abstract】 The increase of world’s population and the rapid development of the economy lead to large consumption of land resources. As a result, the problem of energy shortages has become very serious in today’s world. Therefore, developing and utilizing the rich marine resources are more and more important and of practical significance. With the human beings continuing to explore the deep sea, the traditional anchor mooring positioning system can not meet the requirements of vessel positioning operation. Thus, this is the reason that the vessel dynamic positioning systems were introduced. In the late70s, a new control algorithm appeared in the field of industrial process, which is predictive control algorithm. The rapid development of predictive control algorithm provides a new method for the design of dynamic positioning controller.The ship dynamic positioning system is a closed-loop control system of multiple input and multiple output. The dynamic positioning ship is affected by uncertain disturbances from the marine environment, and the accurate ship motion mathematical model is hard to be established. The model predictive control does not need high accuracy of the model and has advantages of fast response and good robustness. Firstly, this paper derives the ship mathematical model of three-degree-of-freedom and establishes the marine disturbance model. Secondly, considering unknown marine environment disturbance and small changes in the angle of dynamic positioning ship, this paper applies the dynamic matrix predictive control algorithm to the design of ship dynamic positioning controller. Furthermore, for the problem of dynamic positioning ship yawing angle change in any big case, this paper introduces self-correction technology and allocates generalized predictive control to design dynamic positioning controller. with a supply vessel for example, the above controller is simulated, and the simulation results show the effectiveness of the proposed control scheme.Finally,3D models of dynamic positioning and drifting platform are created by Creator software and Vega software is used for constructing virtual marine environment. The3D simulation platform of dynamic positioning is realized with the hybrid programming technology of VC and Matlab. The ship dynamic positioning controller based on generalizied predictive control is performed on the platform.更多还原