基于模型预测控制的船舶动力定位约束控制_王元慧.pdfVIP

SHIP ENGINEERING 船 舶 工 程 Vol.29 No.3 2007 总第 29 卷，2007 年第 3 期 基于模型预测控制的船舶动力定位约束控制 王元慧，施小成，边信黔 （哈尔滨工程大学 自动化学院，哈尔滨 150001） 摘 要：研究了模型预测控制在船舶动力定位系统约束控制中的应用，建立了3 自由度动力定位船 舶的数学模型，提出了船舶动力定位系统设计中应考虑的各种约束.针对某供应船，根据模型预测控制理 论进行了动力定位控制器设计，使约束的处理问题贯穿于控制系统设计的始终.仿真试验验证了模型预测 控制算法应用于船舶动力定位约束控制的有效性. 关键词：船舶；动力定位；约束控制；模型预测控制；供应船 中图分类号：U661.33 文献标识码：A 文章编号：1000-6982 (2007) 03-0022-04 Restriction control of marine dynamic positioning system based on model predictive control WANG Yuan-hui, SHI Xiao-cheng, BIAN Xin-qian (Automation College, Harbin Engineering University, Harbin 150001, China) Abstract: The pap er studies the appl ication of model predictive control to restriction control of marine dynamic p ositioning system and establishes mathematic models of dynamic positioning ships in three degree of freedom. All considerable restrictions in the design of dynamic positioning system are p ut forward. A dynamic p ositioning controller is designed based on the theory of model predictive control, which makes the restrictions dealt with all through the design of control systems all along. The simulation experiment demonstrates the effectiven ess of the modelpredictive control arithmetic app lied to restriction control of marine dynamic positioning system. Key words: ship; dynamic positioning (DP); restriction control; modelpredictive control (MPC) ; tender 0 引言 纵荡、横荡和艏摇.定义地球坐标系O －X Y Z 下船舶 E E E E 的位置和艏向角度向