摘要
海洋平台和很多海上工作船舶都装备了动力定位系统。开展船舶动力定位系统及其控制效果的研究在海洋工程领域具有重要的意义。文章分别采用两种滤波和状态估计方法,即卡尔曼滤波器和非线性被动观测器,对一阶波浪力干扰的高频船舶运动测量信号进行滤波并得到低频船舶运动信号。这两种方法分别用于基于运动学和动力学理论建立的船舶运动线性模型和非线性模型;控制算法采用的是实际应用中简单有效的PID控制器。通过在一艘专门用于动态定位和航迹跟踪研究的补给船模型上进行计算机仿真和对结果进行比较分析, 验证了所设计的两套控制模型的控制效果并证实了基于非线性被动观测器的非线性模型优于基于卡尔曼滤波器的线性模型。
Offshore platforms and many offshore operating ships are equipped with Dynamic Position- ing systems in ocean engineering. It is of great importance to investigate the performance of ship DP system and its control issues. In this paper, two different filtering and state estimation techniques of Kalman filter and nonlinear passive observer are introduced to separate the Low Frequency （LF） mo- tion from the ship motion measurements contaminated by the first-order wave-induced High Fre- quency （HF） motion. These two methods are applied to two DP control systems based on the linear and nonlinear models of ship kinematics and dynamics, respectively. PID control algorithm is used in both models for its simplicity and efficiency in application. Finally, to test the designed controllers and filtering methods and to validate the advantage of the nonlinear passive observer control model, simulation on a model of supply vessel for DP and tracking control is conducted and the perfor- mances of both control systems are analyzed and compared.
出处
《船舶力学》
EI
CSCD
北大核心
2013年第6期592-603,共12页
Journal of Ship Mechanics
基金
Supported by the Special Research Fund for the Doctoral Program of the Ministry of Education of China(Grant No.20110073110009)
