动力定位船舶模糊解耦定速航行控制算法
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摘要
[目的]在海洋石油开采、湖泊水质监测等领域,为了实现船舶自主定位及自主航行,需对动力定位船舶的航速予以控制。[方法]建立船舶三自由度(3-DOF)运动模型,提出基于模糊解耦控制的船舶定速航行控制算法。针对被控对象的建模误差,分别设计纵荡、横荡和艏摇回路模糊控制器。针对横荡与艏摇回路变量之间的耦合问题,采用前馈补偿解耦环节来消除控制量之间的相互影响。[结果]定速航行控制仿真平台的实验结果表明,该模糊解耦控制算法的动态性能好、稳态精度高,且具有一定的鲁棒性。[结论]研究成果可为船舶定速航行的精确控制提供参考。
[Objectives]In the fields of marine oil exploitation and lake water quality monitoring,in order to realize the self-positioning and self-navigation of ships,it is necessary to realize the velocity control for dynamic positioning ship. [Methods]Ship motion model of 3 Degree of Freedom(3-DOF) is established,and constant-velocity navigation control algorithm based on fuzzy decoupling control is proposed. Fuzzy controllers are designed separately for surge,sway and yaw loop to solve the modeling error of controlled object. In order to solve the coupling problem between sway loop and yaw loop variables,feed-forward compensated decoupling scheme is designed to eliminate mutual effect between controlled variables. [Results]The experimental results of the constant-velocity navigation control simulation platform show that the fuzzy decoupling control algorithm has good dynamic performance,high steady-state accuracy and certain robustness.[Conclusions]The study results provide references for the precise velocity control for dynamic positioning ship.
[Objectives]In the fields of marine oil exploitation and lake water quality monitoring,in order to realize the self-positioning and self-navigation of ships,it is necessary to realize the velocity control for dynamic positioning ship. [Methods]Ship motion model of 3 Degree of Freedom(3-DOF) is established,and constant-velocity navigation control algorithm based on fuzzy decoupling control is proposed. Fuzzy controllers are designed separately for surge,sway and yaw loop to solve the modeling error of controlled object. In order to solve the coupling problem between sway loop and yaw loop variables,feed-forward compensated decoupling scheme is designed to eliminate mutual effect between controlled variables. [Results]The experimental results of the constant-velocity navigation control simulation platform show that the fuzzy decoupling control algorithm has good dynamic performance,high steady-state accuracy and certain robustness.[Conclusions]The study results provide references for the precise velocity control for dynamic positioning ship.
引文
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[2]李欣,谢芃,骆寒冰,等.基于PID算法的船舶动力定位数值模拟研究[J].舰船科学技术,2014(10):13-17.Li X,Xie P,Luo H B,et al.Numerical investigation of ship dynamics positioning simulation using PID-control method[J].Ship Science and Technology,2014(10):13-17(in Chinese).
[3]Miroslaw T.Dynamic positioning system for a ship on harbour manoeuvring with different observers.Experimental results[J].Polish Maritime Research,2014,21(3):13-24.
[4]李和贵,翁正新,施颂椒.基于模糊控制的船舶动力定位系统设计与仿真[J].系统工程与电子技术,2002,24(11):42-44.Li H G,Weng Z X,Shi S J.Design and simulation of ship dynamic positioning systems based on fuzzy control[J].Systems Engineering and Electronics,2002,24(11):42-44(in Chinese).
[5]Meng M,Sheng L H,Qing M,et al.Intelligent control algorithm for ship dynamic positioning[J].Archives of Control Sciences,2014,24(4):479-497.
[6]Yang F F,Guo C,Jiang Y B.RBF based integrated ADRC controller for a ship dynamic positioning system[C]//Proceedings of 2017 Chinese Intelligent Automation Conference.Singapore:Springer,2017:673-680.
[7]Xu L,Liu Z Q.Design of fuzzy PID controller for ship dynamic positioning[C]//2016 Chinese Control and Decision Conference.Yinchuan,China:IEEE,2016:3130-3135.
[8]Liu G Y,Hou Y B,Luo Y,et al.Genetic algorithm's application for optimization of PID parameters in dynamic positioning vessel[C]//International Conference on Mechanical,Electronic and Information Technology Engineering(ICMITE).Chengdu,China:MATECWeb of Conferences,2017:1-4.
[9]丁福光,朱增帅,王奇.基于BP网络的船舶动力定位控制技术仿真研究[J].计算机仿真,2014,31(10):405-409,449.Ding F G,Zhu Z S,Wang Q.Simulation of dynamic positioning system based on BP neural network[J].Computer Simulation,2014,31(10):405-409,449(in Chinese).
[10]Ho W H,Chen S H,Chou J H.Optimal control of Takagi-Sugeno fuzzy-model-based systems representing dynamic ship positioning systems[J].Applied Soft Computing,2013,13(7):3197-3210.
[11]陈珊珊.模糊PID控制在船舶动力定位系统中的应用[J].舰船科学技术,2015,37(3):119-121,129.Chen S S.Research on the application of fuzzy PIDcontrol in the ship dynamic positioning system[J].Ship Science and Technology,2015,37(3):119-121,129(in Chinese).
[12]边信黔,付明玉,王元慧.船舶动力定位[M].北京:科学出版社,2011.Bian X Q,Fu M Y,Wang Y H.Ship dynamic positioning[M].Beijing:Science Press,2011(in Chinese).157