半潜式平台动力定位多模式组合控制系统设计

Design of multi-mode DP control system for semi-submersible platform

设计了半潜式平台动力定位多模式组合控制系统,模式选择器确定控制器集工作方式,输出选择器决定输出控制器,控制器集中的基于卡尔曼滤波自整定PID控制器、自抗扰控制器、广义预测自校正控制器能实现平静、适度、极端多种海洋环境的精确定位控制。仿真实验证明该控制系统在各种海洋环境下均有较高的定位精度、较快的响应速度、控制系统具有较强适应性和鲁棒性。

In order to cope with environmental and uncertain disturbance while platform is keeping its position for offshore operation process. Multi-mode dynamic positioning （DP） control system was designed for different level of position deviation and marine environment. The simulation results indicate fuzzy-PID controller based on Kalman-filter was fit for calm marine environment, active DisturBance rejection （ADRC） controller was suit for moderate marine environment, general predictive controller （GPC） was appropriate for extreme marine environment. And the control system has advantages of high accuracy quick response strong anti-disturbance ability and robustness.