动力定位半潜平台五自由度运动控制及其机理研究.pdfVIP

上海交通大学硕士论文 ABSTRACT In dynamic positioning systems for vessels, a three degrees of freedom multivariable controller, which takes the angles and velocities of the horizontal plane motions, surge, sway and yaw into consideration, has always been regarded as adequate for motion control. However, the coupling influences between horizontal plane motions and vertical plane motions of some floating marine constructions may