基于侧推力最小原则的船舶动力定位控制

Dynamic positioning control of ships by minimum sway-force

针对动力定位船舶的位置保持作业,基于侧推力最小原则,设计了艏向控制器和位置保持控制器.根据单摆在势场中的运动原理,利用滑模技术分别针对船舶的纵荡和艏向设计控制器,以使船舶与设定点保持固定距离,并且艏向始终正对环境力.研究了非线性无源状态观测器,对船舶的高频运动进行滤波并对船舶的运动速度进行估计,将状态反馈问题转换为输出反馈问题.仿真结果表明:该控制器无横向力输出,且转艏力矩很小,证明了该控制器的有效性.

Based on minimum sway-force, the heading controller and station keeping controller were designed for dynamic positioning ships. According to the theory of pendulum in the potential field, and using sliding mode technology, a surge and yaw controller was designed to make the ship keep a fixed distance to the set point and the heading be opposite from the direction of the environmental forces. A nonlinear passive observer was introduced to filter the wave frequency motions of the ship and the vessells velocities were estimated. The state feedback was converted to the output feedback. The simulation results prove that, without cross force being output and with the small yaw moment, the controller can save fuel markedly, which is effective.