锚泊辅助动力定位系统艏向控制模式研究

Research on the heading control mode of the thruster-assisted mooring system

锚泊辅助动力定位系统是一种将锚泊定位与动力定位结合起来的新型定位方式。对该系统的艏向控制模式进行了研究。在该模式下,控制系统将只对平台的艏向运动施加约束。同时对平台在该模式下的定位进行了时域模拟,并与锚泊定位和水平面三自由度均施加约束的全定位模式进行了对比。结果表明,在一般海况下,相比锚泊定位,该定位模式能显著提高平台的艏摇控制精度;相比全定位模式,该定位模式消耗的功率更小、更经济。艏向控制模式是锚泊辅助动力定位系统的一种工作模式,在相应海况条件下采取该定位模式,能够实现精确和经济的定位。

Thruster-assisted mooring system is a positioning system that consists of mooring lines and thrusters. The heading control mode of the system is studied. In this mode, rather than controlling all 3 DOF（ surge, sway, yaw） motion, only the heading of the platform will be controlled. To study the performance of the heading control mode, time domain simulations are carried out. The results indicate that under normal environmental conditions, comparing with being positioned by the mooring system, the control of the yaw motion can be improved significantly by heading control mode; and comparing with the control of all 3 DOF motions, the heading con- trol mode consumes much less energy. Heading control mode is one of the control strategies of the thruster-assisted mooring system, with which the platform can be positioned with high accuracy and low power consumption.