耙吸挖泥船dpdt控制算法研究-research on dpdt control algorithm of trailing suction dredger.docxVIP

江苏科技大学工学硕士学位论文 江苏科技大学工学硕士学位论文 A Abstract PAGE PAGE VI III III Abstract Trailing suction hopper dredger required keeping at the fixed zone or navigation with a predefined track while dredging at sea, all these functions should guaranteed by a good performance Dynamic Positioning system. With the deepening of deep-sea operation, the strict indicators of dynamic positioning technology for Trailing suction hopper dredger are increasing improved. This issue is a major technology achievement conversion project of Jiangsu province, here have a research on Dynamic Positioning or Tracking system controller design, combined with the application of actual project based on Trailing suction hopper dredger. This thesis contains the following parts: Towards the rain-bowing mode of Dynamic Positioning, constructed the DP low frequency model for TSHD while the speed of the hull near to zero. During the process introduced the compensation method of anti-resistance while rain-bowing operation. For DT-dredging and DT-navigation mode under a certain speed, established the DT low frequency motion model, analyzed the hull resistance and the rake arm drag force which generated by the process while dredging, also established the calculation model. Meantime, in order to meet the needs of controller design, the model of wind, wave and current and other environmental interference were constructed. Towards the DP controller for TSHD, here used the PID algorithm as the main control algorithm. As the PID control algorithm is still widely used in ship control systems, and is suitable for low-frequency motion control, also the three degrees of freedom of TSHD motion can be decoupled into three independent parts to analysis. So in the thesis designed three independent controllers based on PID algorithm. Moreover, compiles the program under the circumstance of MATLAB to see the effect of the corresponding controller. Simulation results show that the incremental digital PID control algorithm has a