船舶动力定位系统的加速度反馈控制

On Acceleration Feedback Control of Vessel Dynamic Positioning System

以某一驳船为例,应用Fossen教授提出的状态观测器设计,在PID控制系统中加入加速度反馈项,选取两个典型环境力方向角度60°和90°,分别设置不同的加速度增益值进行研究,比较加入加速度反馈项对定位能力的影响并讨论选取最优增益值。通过数值模拟分析得出,90°时定位精度较差。在同一迎浪角度时,随着增益值从0不断增加,定位精度不断提高;如果增益值一直增大,定位精度反而下降,选用适当的加速度反馈增益可以大大增加装有动力定位的浮式结构物的定位能力。引入加速度反馈这一方法特别适合本身质量很小的结构物,对外干扰力的不那么敏感,从而提高动力定位精度。

In this research a passive observer designed by Professor Fossen is used to simulate numerically state. Based on the valid observer,an acceleration term is added to the control system. A barge is selected as the simulation object.The barge is simulated with 60° and 90° wave directions and different acceleration gains. In conclusion,when the wave angle is 60°,the position accuracy of barge is better than that of the wave angle 90°. When the barge is in the same wave angle, the positioning accuracy becomes better with the acceleration gain increase from 0. However, the positioning accuracy can be down if the gain exceeds certain value. So the appropriate acceleration gain can enhance the positioning capability of floating structures. And for the small mass floating structures,adding the acceleration term can improve the positioning accuracy effectively by choosing proper gains.