基于模型预测的动力定位控制系统体系结构及仿真.pdfVIP

学兔兔 第34卷 第6期 仪 器 仪 表 学 报 Vo1．34 No．6 2013年6月 Chinese Journa1 of Scientific Instrument Jun．2013 基于模型预测的动力定位控制系统体系结构及仿真 王 卓，陈红丽，王 芳，万 磊 (哈尔滨工程大学水下机器人技术国防科技重点实验室 哈尔滨 150001) 摘 要：以“981”深海半潜式钻井平台为研究对象，根据国际海事组织和各大船级社对动力定位系统的安全规范要求，进行了 DP-3级动力定位控制系统的总体方案设计。首先详细阐述了动力定位控制系统的硬件组成和结构及软件功能和层次，然后给 出了平台的低频运动方程及基于模型预测的控制算法和控制器的具体设计方案及参数设置方法。最后建立了半实物仿真系 统，进行了平台的作业工况和待机工况的动态模拟，通过仿真实验调试和验证了系统的硬件设备和软件方法。 关键词：动力定位；控制系统体系结构；半实物仿真；深海钻井平台；动态模拟 中图分类号：TP23 文献标识码：A 国家标准学科分类代码：470 Framework and simulation of dynamic positioning control system based on model prediction Wang Zhuo，Chen Hongli，Wang Fang，Wan Lei (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle， Harbin Engineering University，Harbin 150001，China) Abstract：According to the safety specification requirement for deepsea dynamic positioning system assigned by the In- ternational Maritime Organization and classification societies，taking the“981”deepsea semi-submersible drilling rig as the study object，the overall scheme of the DP一3 dynamic positioning control system was designed and developed．At first，the hardware composition and structure as well as the software function and hierarchy are described in detail．And then，the low一~equency dynamic equation of the rig is established．The model prediction based control algorithm，the detail design scheme of the controller and relevant parameter configuration method are given．A semi physical simula— tion system was established，and the dynamic simulations of the rig under standby condition and working condition were performed．The hardware equipment and software me