动力定位系统发展状况及研究方法

:100529865(2002)0120091207,,,(,200030):(DynamicPositioningSystem),,,,,:;:U66111:AThedevelopmentandresearchmethodofdynamicpositioningsystemZHAOZhi2gao,YANGJian2min,WANGLei,CHENGJun2yong(TheStateKeyLaboratoryofOceanEngineering,ShanghaiJiaotongUniversity,Shanghai200030,China)Abstract:Thedynamicpositioningsystemisaclosed2loopcontrolsystemwhichresistsagainstthedisturbancebywind,waveandcurrentwiththehelpofthrustersonthevessel.Theaimofthesystemistocontrolthevesselonarequiredposition.Thecostofthepositioningdoesntrisewiththeriseofwaterdepthandtheoperationisconvenient.Itsdevelopmentisimportanttotheoceanexplorationandthemodernizationofna2vy.Inthispaper,abriefintroductionofDPSanditsdevelopmentisgiven.Keywords:dynamicpositioningsystem;controlsystem,,2P3,,21,,(,),,,,,,,,,(DynamicPositioningSystem)[1,2],,,,,,,,(1):1),;2),(),,,;3),:2001203227:(1978-),,,,20120022THEOCEANENGINEERINGVol120No11Feb.2002©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[3],,,,,,,[4]Pholas2070,,,,6636t,1215t,DPMarin2080[5],,:1);2);3)RUNSIM,DPCONDPSIM,PID+Kalman,,Marin:1)DP2assistedmooringmode,[6,7];2)(OT);3),,,,1111,;,,,[8],,2,XeOYe,XOYZ,XY,YOY,,:YX=cos-sinsincosYEXE+YGXG(1)2920©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[9,10]:(m+mx)Ûu-(m+my)vr=FXH+FXwa+FXwi+FXT+mxGr2(m+my)Ûv-(m+mx)ur=FYH+FYwa+FYwi+FYT+mxGÛr(I2+J2)Ûr=NH+Nwa+Nwi+NT-mxG(Ûv+ur)(2),mIzOZ,mxmyJzXYOZ,HwawiT,,,,,,,[10]:FXH=Xuuu2+Xvvv2+Xvrvr+Xrrr2FYH=Yvv+Yrr+Yv|v|v|v|+Yv|r|v|r|+Yr|r|r|r|+YÛrÛrNH=Nvv+Nrr+Nv|v|v|v|+Nv|r|v|r|+Nr|r|r|r|+NÛvÛv(3),:ur=u-Uccos(c-)vr=v-Ucsin(c-)(4):Uc,c,(4)(2)(3),,,[11]:F(t)=k2wb(x)v2za(x)dx(5),F,w,k,b(x)x,vza(x):F(t)=Ni=1Nj=1iiPijcos[(wi-wj)t+(i-j)]+Ni=1Nj=1iiQijsin[(wi-wj)t+(i-j)](6),:FXA=CXA(A)v2w,FYA=CYA(A)v2w,MZA=CZA(A)v2w(7):C(A),;A;vw:FXT=Mi=1FTi,FYT=Mj=1FTj,MZT=M+Ni=1LiFTi(8):MX,NY,lii112,,,,[4],,,:391,:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.):,,,,2):,,,,,3):,4)(GPS):,,,,,(PositioningSensitiveDetector)LED,39,(),,[12,13]113,,,[3]3Fig.3Thelaymentofthrusters,,,3,:Fx=F1cos1+F2cos2Fy=F1sin1+F2sin2Mz=l1F1sin(1-1)+l2F2sin(22)(9):FxFyxy,Mz,F1F2,:Fx=F1,Fy=F2+F3Mz=l1F1sin1-l2F2cos2-l3F3cos3(10):F1=Fx,F2=Mz1l2+l3+Fy13l2+l3F3=-Mz1l2+l3+Fy12l2+l3(11),,,,[14],[15],,,,(DampedLeastSquares);4920©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[16],,,[17],114,,,,,,,[3,18]--(PID):f()=Kp+KIdt+KDddt+FA(A,vA)(12),Kp,KI,KD,FA(A,vA),vA,A,,,;,;,PID,,,[19],,,,PID,,,PIDPID,,PID,PID[20]Kalman,[21,22]KalmanKalman,,,,LQG[23],KalmanKalman,,,KalmanKalman,,,(36,0360,10),,,,(Norwe2gianUniversityofScienceandTechnology)2090,[24226]Thor.I.Fossen,,(Backsteppingdesignmethology),,,,(,),,H(RobustControl)H,LQGPKalman[27,28]HDP,591,:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(weightingfunction);DP[29],,;H,,,,,,,,Inoue[30,31],,,,,,(self2tuning),,,,,lt-1[32],,,[33],,[34],,,,,,,2,,,:1),;2),;3),,,3(DPS),,,,,,,DPS,,,,,,:[1]ALough.Dynamicpositioning[J].LioydsRegisterTechnicalAssociation,1985.[2]JSELK'INAHO.Tuningadynamicpositioningsystem[J].Automatic,1993,29(4):8652875.[3],MJ.[M].:,1984.[4]DFPhilipsBSc(Hons).Thedynamicpositioningofships;theproblemssolved?[A].UKACCInternationalConferenceonControl96[C].IEE,1996.[5]NienhuisU.Simulationoflowfrequencymotionsofdynamicallypositionedoffshorestructures[J].RoyalInstitutionofNavalArchitects(London)SupplementaryPapers,1987,129:1272145.[6]JohanWichers,RadboundvanDijk.BenefitsofusingassistedDPfordeepwatermooringsystems[A].OffshoreTechnologyConference[C].1996.6920©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[7]ABAlbers,AAMerchant.ThehydrodynamicmodeltestingforclosedloopDPassistedmooring[A].OffshoreTechnologyConference[C].1996.[8].[J].[9]MakotoOhkusu,MasashiKashiwagi,WataruKoterayama.Hydrodynamicsofadepthcontrolledtowervehicle[A].[C].[10],,.[J].,1998,(1):12215.[11].[J].,1992,10(2):3231.[12],,.[J].,1999,17(2):17221.[13],,.[A].[C].2000.[14]Fossen,ThorI.Guidanceandcontrolofoceanvehicles[J].ChichesterNewYork,1994.[15]BergeSP,FossenTI.Robustcontrolallocationofoveractuatedships;experimentswithamodelship[A].4theIFACConferenceonManeuveringandControlofMarineCraft[C].Croatia,1997,1662171.[16]SindingP,AndersonSV.Aforceallocationstrategyfordynamicpositioning[A].ProceedingsoftheEighthInternationalOffshoreandPolarEngineeringConference[M],Montreal,Canada,1998,3462353.[17]WilliamC,Webster,JoaoSousa.Optimumallocationformultiplethursters[A].ProceedingsoftheNinth(1999)InternationalOff2shoreandPolarEngineeringConference[C].83289.[18].[J].,1999,17(4):27232.[19],,,.[J].,1996,43246.[20].[D].,1999.[21]BalchenJG,JenssenNA,SaelidS.DynamicpositioningusingKalmanfilteringandoptimalcontroltheory[J].IFACPIFIPsymposiumonAutomationinOffshoreOilFieldoperation,1976,1832188.[22]GrimbleMJ,PattonRJ,WiseDA.ThedesignofDPcontrolsystemsusingextendedKalmanfil