计入锚索阻尼的锚泊自动定位系统建模及控制器设计  

Modeling and Simulation of Automatic Mooring Positioning Semi-Submersible Platform When Accounting for Mooring Line Damping

作　　者：金鸿章[1] 苏晓宇 胡晓东[2] 姚晓晨[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]中船重工第七○四研究所,上海200031

出　　处：《中国造船》2012年第3期51-58,共8页Shipbuilding of China

基　　金：国家工业和信息化部海洋装备工程装备科研项目工信厅装[2009]91

摘　　要：半潜式海洋平台在工作时,由于环境扰动的作用将使其漂离工作区域,需安装定位系统。论文提出了一种具有实时检测与控制功能的自动锚泊定位系统方案。并在常规的风、浪、流扰动方程及半潜式平台运动规律的基础上,引入锚索阻尼的影响,在海洋扰动中计及低频湍流风的作用来建立该定位系统的数学模型。同时考虑工程应用因素,设计了适用于该系统的积分型LQG控制器。仿真结果表明,该定位系统能有效地保证半潜式海洋平台在合适的区域内工作。When semi-submersible platform works, it often drifts from the working area because of environmental disturbance, and positioning system is needed. This paper proposes a new automatic mooring positioning scheme with real-time detection and control function on the basis of analyzing properties of the mooring positioning and dynamic positioning system. A mathematical model accounting for both low-frequency turbulent wind and mooring line damping which were usually ignored in the past is established, and an integral LQG controller is designed. The simulation results show that the new positioning system can effectively guarantee that the semi-submersible platform will work in an appropriate area. Key words： semi-submersible platform; marine disturbance; automatic mooring positioning; mooring line damping; integral LQG control

关 键 词：半潜式平台 海洋扰动 

分 类 号：U675.92[交通运输工程—船舶及航道工程]