应用加速度反馈的船舶动力定位系统研究

The Study of Applying Acceleration Feedback for Ship Dynamic Positioning System

由于动力定位船舶会持续暴露在环境的干扰之下,所以动力定位系统的目标在于通过运用合适的推进器推力来抵抗风浪流的扰动,从而维持期望的位置和艏向。通过引入测量加速度反馈和惯性测量单元,提供一种方法来更好地补偿波浪漂移产生的缓慢变化的力,设计出一种低速跟踪控制器来削弱波浪的干扰。经过仿真实验证明,在定量推力的情况下,使用加速度反馈能显著提高纵荡方向的定位精度。

Since dynamically positioned vessels are continuously exposed to environmental disturbances, the ob- jective of dynamic control system is applying the adequate propeller thrust to resist the disturbance of wind, wave and flow, thereby maintaining the desired position and heading. A method is provided for better compensation of slowly varying wave drift force by introducing feedback from measured acceleration and inertial measurements. A low speed tracking controller also has been developed to attenuate wave interference. The simulation experiments show that for the some amount of thrust, the positioning accuracy in surge improved significantly using acceleration feedback.