Real - time simulation and spectrum - analisis of a dynamic positioning system ship in waves 船舶動力定位海浪環(huán)境的實時仿真與海浪譜分析
The realization of the ship ' s dynamic positioning system plays an important role for enhancing the development and popularization of our country ' s ship building industrial products and technology with high additional value 船舶動力定位系統(tǒng)的實現(xiàn)對于提高我國造船工業(yè)中的高附加值產(chǎn)品技術的開發(fā)和推廣都有著十分重要的理論意義與實用價值。
This paper researches the basic components of ship ' s dynamic positioning system and the solution schemes of its control system , and provides a reference basis for the practicality of the dynamic positioning system 本文研究了船舶動力定位系統(tǒng)的基本組成及其控制系統(tǒng)的解決方案,為哈爾濱上程人學博士學位論文動力定位系統(tǒng)的實用化提供了可借鑒的參考依據(jù)。
It is requisite to employ the dynamic positioning system with fine performance in the work of maritime development , inshore engineering support , underwater work support , and so on , if the ship needs keeping fixed position or sailing along a desired track in the work 海洋開發(fā)、近海工程支持、水下作業(yè)支持等項工作如果要求船舶保持作業(yè)地點固定不變或按照預定的軌跡航行,就需要有性能良好的動力定位系統(tǒng)。
Another vital technology is the chikyu ' s dynamic positioning system , an automatic , satellite - guided location fixer that corrects against wind , wave and current forces with six 360 - degree thrusters under the hull , keeping the ship over the borehole 地球號另一個重要的技術則是動態(tài)定位系統(tǒng),這是一個利用衛(wèi)星導航的自動定位器,并且校正了風速、海浪與船底的六個360度推進器產(chǎn)生的力量,使船可以一直維持在鉆孔的上方。
The marine environmental forces acting on the vessel are the wind , the current and the waves . the motion control system of a dynamic positioning system is a nonlinear , coupling , time - delay complicate system . it ' s difficult to control the system effectively using the conventional control method 動力定位船舶在海上受到風、浪、流的干擾,其運動具有很強的非線性、耦合性和大時滯性,采用常規(guī)的控制方法很難獲得令人滿意的控制效果。
5 . according to the non - linear and time variant feature of the object under control in dynamic positioning system , a controller for dynamic positioning system is designed , and a strong robust self - learning fuzzy - sliding mode controller is produced , which enhanced the performance of the control system 5 )根據(jù)動力定位系統(tǒng)被控對象非線性和時變的特點,設計了動力定位系統(tǒng)控制器,提出了一種強魯棒性的自學習模糊變結構控制器,提高了控制系統(tǒng)的性能。
The dynamic positioning technique has been developed for more than 30 years and has formed a high scientific industry that promotes the corresponding scientific researches abroad . in our country , the development of the dynamic positioning technique in most researching units is still in the theoretical or experimental research stage . it is only the group to which the author belongs that has finished the first internal dynamic positioning system that makes the dynamic positioning technique from theory to practice 在國外,動力定位技術已經(jīng)發(fā)展了三十多年,形成了高科技的產(chǎn)業(yè),促進了相應科學研究的發(fā)展;在國內(nèi)大多數(shù)單位的動力定位技術研究尚處于理論或?qū)嶒炑芯侩A段,僅有作者所在的課題組于1997年完成了國內(nèi)第一套裝備實船的船舶動力定位系統(tǒng),使得動力定位技術從理論研究走向了實用。
2 . to meet the demands of establishing a practical control system , this paper analyzed the main sensors " construction , performance , and work theory in a dynamic positioning system , discussed the output format of the sensors " signals and the feature of the signals " noise , introduced the common thrusters , and established the thruster ' s mathematics model 2 )為滿足建立實際控制系統(tǒng)的需要,分析了動力定位系統(tǒng)主要傳感器的構成、性能和工作原理,討論了傳感器信號的輸出形式及信號噪聲的特點,介紹了常用推進器,建立了推進器數(shù)學模型。
This paper is the theoretical summary of the development around the dynamic positioning system by the writer , which includes several aspects of the studies as follows , 1 . in allusion to the feature of zero - speed of the ship in positioning control process , the dynamic mathematics model of the ship ' s movement has been established , which fits to the dynamic positioning , and the mathematics model of the environment of sea and ocean which disturbs the ship in dynamic positioning , which has founded the base of further study 本文是作者以rov工作母船為背景,圍繞動力定位系統(tǒng)的開發(fā)工作所做的理論研究工作,主要包括以下幾個方面的研究工作: 1 )針對處于定位控制的船舶工作在零航速附近的特點,建立了適合于船舶動力定位系統(tǒng)研究用的船舶低頻運動模型,為滿足控制器設計的需要,建立了船舶高頻運動模型和海洋環(huán)境作用模型,為以后的分析奠定了基礎。