摘要
针对船舶动力定位系统实现精确控制所需的状态变量不完全可测问题,研究设计基于状态估计器的船舶动力定位模型预测控制器,以提高系统控制精度.基于MATLAB对有无约束及有无状态估计器的模型预测控制进行仿真对比分析.结果表明,基于状态估计器的模型预测控制可提高动力定位的控制效果,验证了该控制算法的有效性.
For the problem that not all the state variables used in the ship dynamic positioning control system can be measured, a model predictive controller of ship dynamic positioning with state estimator was designed to improve the control accuracy of the system. A comparative analysis through the simulation of the model predictive control with or without constraints was made, and state estimator was conducted based on MATLAB. Results show that the model predictive control of ship dynamic positioning with state estimator can improve the control effect of dynamic positioning, the effectiveness of this proposed control arithmetic was validated.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2015年第3期24-28,共5页
Journal of Dalian Maritime University
基金
中央高校基本科研业务费专项资金资助项目(3132014332
3132015025)
关键词
船舶
动力定位
模型预测控制
状态估计器
ship
dynamic positioning
model predictive control
state estimator
