动力定位预测控制器船舶模型试验研究
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摘要
使得船舶按照特定轨迹运动或者到达指定位置,并减少或者消除到达设定位置时的超调量是动力定位控制器研究中的关键问题;针对上述问题,运用预测控制的基本理论,结合自适应方法中的最小二乘辨识,设计了动力定位系统自校正预测控制策略;在Matlab仿真中,该预测控制器有效解决了模型失配和系统超调的问题;为了进一步验证该预测控制器的实际控制效果,利用船舶模型对算法进行了动力定位定点模式下的水池模型物理试验;在直接使用仿真参数的情况下,船模试验的控制效果并不理想;参数修改后,动力定位效果有了极大改善;试验结果表明,在实际控制中,为保证控制效果,艏向角度的控制应占最高权重;不能忽视船舶运动时的耦合现象。
Making the ship move according to the specific trajectory or arrive at the specified location and reduce or eliminate the overshoot when reaching the set position are the key problem in the research of the dynamic positioning controller.Combined the basic theory of model predictive control and the least squares identification of self-adaptive approach,we design a self-adaptive predictive controller for dynamic positioning system in view of the above problems.The controller effectively solves the problem of model mismatch and system overshoot by Matlab simulation.In order to further verify the control effect of this controller,we conduct a series of physical test on the controller under the dynamic positioning fixed point pattern in the basin.In the case of direct use of the simulation parameters,the control effect of the ship model test is not ideal,and the dynamic positioning effect is greatly improved after the parameters are modified.The model test results show that the control of the bow angle should occupy the highest weight in order to ensure the control effect,besides,the coupling phenomenon of ship movement can not be ignored in the actual control.
Making the ship move according to the specific trajectory or arrive at the specified location and reduce or eliminate the overshoot when reaching the set position are the key problem in the research of the dynamic positioning controller.Combined the basic theory of model predictive control and the least squares identification of self-adaptive approach,we design a self-adaptive predictive controller for dynamic positioning system in view of the above problems.The controller effectively solves the problem of model mismatch and system overshoot by Matlab simulation.In order to further verify the control effect of this controller,we conduct a series of physical test on the controller under the dynamic positioning fixed point pattern in the basin.In the case of direct use of the simulation parameters,the control effect of the ship model test is not ideal,and the dynamic positioning effect is greatly improved after the parameters are modified.The model test results show that the control of the bow angle should occupy the highest weight in order to ensure the control effect,besides,the coupling phenomenon of ship movement can not be ignored in the actual control.
引文
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[7]钱小斌,尹勇,张秀凤,等.模型预测控制在船舶动力定位模拟器中的应用[J].系统仿真学报,2016,28(10):2620-2625.
[8]苏义鑫,赵俊.带有UKF滚动时域估计的动力定位控制器[J].哈尔滨工程大学学报,2016,37(10):1381-1386,1393.
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[2]芮世民,朱继懋.自适应模糊建模及其在船舶动力定位中的应用[J].应用科学学报,2000,18(3):211-213.
[3]赵大威,边信黔,丁福光.非线性船舶动力定位控制器设计[J].哈尔滨工程大学学报,2011,32(1):57-61.
[4]叶宝玉,王钦若,熊建斌.船舶动力定位非线性自适应反步控制器设计[J].计算机工程与设计,2012,33(9):3647-3651.
[5]李博.动力定位系统的环境力前馈研究[D].上海:上海交通大学,2013.
[6]王元慧,施小成,边信黔.基于模型预测控制的船舶动力定位约束控制[J].船舶工程,2007,29(3):22-25.
[7]钱小斌,尹勇,张秀凤,等.模型预测控制在船舶动力定位模拟器中的应用[J].系统仿真学报,2016,28(10):2620-2625.
[8]苏义鑫,赵俊.带有UKF滚动时域估计的动力定位控制器[J].哈尔滨工程大学学报,2016,37(10):1381-1386,1393.
[9]Muske K R,Rawlings J B.Model predictive control with linear models[J].Aiche Journal,1993,39(2):262-287.
[10]齐亮,俞孟蕻.船舶动力定位系统的广义预测控制方法研究[J].中国造船,2010,51(3):154-161.
[11]庞中华,崔红.系统辨识与自适应控制Matlab仿真[M].北京:北京航空航天大学出版社,2013.