基于EKF的船舶模型预测动力定位导引控制器设计

EKF Based Model Predictive Controller Design for Dynamic Positioning Ship Guidance Control

传统的动力定位船舶导引控制系统包括产生动态目标点的导引子系统和产生导引点跟踪效果的控制子系统,用于较近的定位点之间的转移过程中。传统导引控制系统虽然已经成功地应用于动力定位控制系统中,但控制系统设计工作复杂,实际作业时不能自定义修改最大导引速度,海洋环境会对导引控制效果有所影响。本文设计了一种基于模型预测控制(MPC)的船舶动力定位导引控制系统,该控制系统不必进行导引子系统设计,可以直接处理定位点之间的导引控制,同时设计了扩展卡尔曼滤波器(EKF)为该控制器提供必要的状态估计,并进行了仿真试验,仿真结果验证了滤波器和控制器的有效性。

Traditional guidance control system of dynamic positioning ship includes a guidance subsystem generating path points toward target dynamic positioning point and a con trol subsystem performing path-point tracking during the transfer process between the current and next dynamic positioning points. The conventional guidance control system has been suc cessfully applied to dynamic positioning control system, but the control system is complicated to design and tune in varying sea. This paper presented a Model Predictive Control （MPC） based guidance controller for the dynamic positioning ship while not necessary to design the guidance subsystem, directly controlling the dynamic positioning ship toward the range of the target point. Meanwhile an Extended Kalman Filter （EKF） was designed to provide the nec- essary state estimation for the controller. Simulation experiments were carried out to verify the efficiency of the filter and the controller. The simulation results demonstrate the efficiency of the presented filter and controller.