摘要
针对半潜式海洋钻井平台的动力定位系统,在充分考虑作业时风、浪、流等环境干扰影响的基础上,分别进行线性滑模(SMC)、终端滑模控制器(TSMC1)、新型终端滑模控制器(TSMC2)的设计,并通过Lyapunov方法进行了稳定性分析。仿真结果验证了三种方法的有效性,能够实现复杂干扰下海洋平台精准的动力定位控制,从鲁棒性和响应速度进行分析,控制效果TSMC_2>TSMC_1>SMC。
Aiming at the dynamic positioning system of semi-submersible drilling platform, this paper finished the respectively design of the linear sliding mode （SMC） , terminal sliding mode controller （TSMCi） and new terminal sliding mode controller （TSMC2） , in which the influence of environmental interference such as wind, wave and flow were fully considered. The simulation results verified the effectiveness of the three methods that can realize the precise dynamic positioning control of the semi-submersible drilling platform under complex interference. According to the analysis of robustness and response speed, the control performance rates as TSMC2〉 TSMQ 〉SMC.
出处
《机械工程与自动化》
2018年第1期5-8,共4页
Mechanical Engineering & Automation
基金
国家自然科学基金资助项目(61473312)
关键词
半潜式海洋钻井平台
动力定位系统
滑模控制
终端滑模控制
semi-submersible drilling platform
dynamic positioning system
sliding mode control
terminal sliding mode control
