船舶动力定位非线性模型预测控制

Nonlinear model predictive control for the dynamicpositioning system of ships

针对受船舶运动状态和推力饱和约束影响的动力定位控制问题,本文提出了一种非线性模型预测控制方法。依据多面体描述理论建立了船舶动力定位多面体描述偏差模型,针对上述模型采用线性矩阵不等式设计非线性模型预测控制器中的终端要素,并证明了闭环系统的稳定性。仿真结果表明:设计的控制器能在满足约束条件和受环境干扰条件下快速控制船舶稳定在计划航向和计划船位,验证了控制器的有效性和本质鲁棒性。

This paper proposes a nonlinear model predictive control method for solving the problems of maintaining the planned position of a dynamically positioned ship constrained by the thrust and motion states.the problems of physical constraints on the thrust and motion states of a ship during dynamic positioning.First,a polyhedron description deviation model for the dynamically positioned ship is established based on the polyhedron theory.for the dynamic positioning of a ship is established based on the convex hull description theory of a polyhedron.Second,for the above model,the terminal ingredients elements in the nonlinear model prediction controller are designed using linear matrix inequalities,and the stability of the closed-loop system is verified.The simulation results show that the designed controller can swiftly stabilize the ship in the planned heading and position under the conditions of meeting constraint requirements and being affected by environmental disturbances,thus verifying the effectiveness and inherent robustness of the controller.