| 船舶起重作业时定位控制方法研究 |
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| 引用本文： | 付明玉,刘菊娥,李琳,黄福祥,陈翠和,谢文博.船舶起重作业时定位控制方法研究[J].中国造船,2011(4). |
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| 作者姓名： | 付明玉 刘菊娥 李琳 黄福祥 陈翠和 谢文博 |
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| 作者单位： | 哈尔滨工程大学自动化学院;中国海洋石油工程股份有限公司; |
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| 基金项目： | 国家科技重大专项资助课题(2008ZX05027-002) |
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| 摘 要： | 近海建筑的建造和安装,需要起重船定点作业,所以要求对起重船动力定位控制方法进行研究。在建立海洋环境模型(风、浪、流)的基础上,建立船舶起重作业模型。设计带有风前馈的反步控制方法,降低系统对环境扰动的敏感性。通过设计估计器,给出船舶运动低频位置、艏向和速度量的估计值,并且使用估计器所得出的低频估计值作为反馈值来减少控制输出的高频振荡。仿真结果表明对于建立的船舶起重模型,所设计的控制方法和估计器,可以较好地完成定位作业。
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| 关 键 词： | 船舶、舰船工程 起重作业模型 海洋环境 动力定位 控制算法 |
Research on Positioning Control Method of the Lifting Operation for Crane Vessels |
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| FU Mingyu,LIU Jue,LI Lin,HUANG Fuxiang,CHEN Cuihe,XIE Wenbo.Research on Positioning Control Method of the Lifting Operation for Crane Vessels[J].Shipbuilding of China,2011(4). |
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| Authors: | FU Mingyu LIU Jue LI Lin HUANG Fuxiang CHEN Cuihe XIE Wenbo |
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| Affiliation: | FU Mingyu1,LIU Jue,LI Lin2,HUANG Fuxiang,CHEN Cuihe2,XIE Wenbo1(1.College of Automation,Harbin Engineering University,Harbin 150001,China,2.COOEC,Tianjin 300452,China) |
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| Abstract: | The offshore construction and installation engineering process needs the crane vessel to execute positioning operation.Therefore,a mathematical model is established including environmental disturbances,ship model and crane operation model.The backstepping control strategy with wind feed-forward is designed to reduce the disturbance sensitivity of the system.Passive nonlinear observer is adopted to estimate the low-frequency part of the vessel movement,and the estimated variables are used as control inputs t... |
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| Keywords: | ship engineering lifting operation model ocean environment dynamic position control algorithm |
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