基于动态面自抗扰技术的起重船动力定位控制.PDFVIP

本文引用格式：付明玉，彭军海，徐玉杰，等．基于动态面自抗扰技术的起重船动力定位控制 [J]．新型工业化，2014，4(10)：10-17 DOI： 10.3969/j.issn.2095-6649.2014.10.02 基于动态面自抗扰技术的起重船动力 定位控制 付明玉，彭军海，徐玉杰，吴宝奇 ( 哈尔滨工程大学，自动化学院，黑龙江哈尔滨 150001) 摘　要：起重船在起重装载作业过程中，不仅受到海洋环境 ( 风、浪、流 ) 的干扰，而且其船舶模型 参数在作业过程中也会受到影响。对于这类船舶的动力定位控制需要设计鲁棒控制算法。本文针对“海洋 石油 201 深水铺管起重船”, 将起重装载过程和海洋环境干扰考虑在内，建立模型参数不确定且存在未知 扰动的非线性数学模型。针对该数学模型的特点，将自抗扰控制技术与动态面控制算法结合，设计动态面 自抗扰控制器，实现对起重船在起重装载作业过程中的动力定位控制。仿真结果验证了本文提出的控制算 法的抗扰动性和强鲁棒性。 关键词：动力定位；起重船；动态面控制；自抗扰控制 Dynamic Positioning of the Crane Ship Based on Dynamic Surface and Active Disturbance Rejection Control FU Mingyu, Peng Junhai, Xu Yujie, WU Baoqi (School of Automation, Harbin Engineering University, Harbin, 150001, China) Abstract ：Crane ship suffers from environmental disturbance including wind wave and current dur- ing the offload operations, meanwhile, the parameter of the model varies. Thus a robust control algorithm is needed for dynamic positioning with respect to this class of vessel. This paper focused on “Offshore Oil 201 DPVs Crane Ship”. Firstly, a nonlinear mathematical model with parametric uncertainty and unknown disturbance was established. Secondly, a method combined dynamic surface control and active disturbance rejection control was proposed to utilize dynamic positioning for crane ship. Finally, simula- tion results indicate that the controller has strong robustness and anti-disturbance ability. Keywords ：dynamic positioning; crane ship; dynamic surface control; active