基于轨迹跟踪的动力定位控制器设计

Design of the Controller for Dynamic Positioning Based on Trajectory Tracking

为实现动力定位系统定位及跟踪功能,设计了基于PID控制的反馈控制器.该控制器一方面简化了控制器的结构使得参数整定较为方便,另一方面通过使控制器的设定点沿着参考轨迹缓慢接近期望定位点避免了推力输出饱和情况.通过仿真实验,对比了提出的控制器与基于干扰补偿的反馈控制器的控制性能.仿真结果表明,该控制器具有参数易整定、鲁棒性强和控制性能好的优势.

In order to achieve the positioning and tracking functions of dynamic positioning system, a feedback controller based on PID is designed. On the one hand; the structure of the controller is sim- plified so that it is more convenient for parameter tuning. On the other hand, the thrust saturation condition is avoided by means of making the control set-point slowly approaching the desired anchor point. The control performances between the proposed controller and the feedback controller based on the bias compensation are compared by the simulation experiment. The results show that the proposed controller has the advantages of easier parameter tuning, higher robustness and better control per- formance.