海洋动力定位分层控制系统的建模与仿真研究  

Study on Modeling and Simulation for Marine Dynamic Positioning Hierarchical Control System

作　　者：郭晨[1] 雷正玲[1] 

机构地区：[1]大连海事大学信息科学技术学院,大连116026

出　　处：《系统仿真学报》2014年第5期1118-1124,共7页Journal of System Simulation

基　　金：国家自然科学基金(61374114;61074053);交通运输部交通应用基础研究项目(2011-329-225-390)

摘　　要：提出一种基于Matlab Stateflow工具箱的动力定位分层控制系统建模方法。建模过程中,不仅考虑船舶运动特性建立了三自由度船舶运动模型,而且考虑推力器系统的实时推力优化分配逻辑建立了相关计算模型,使其能将控制器计算出的力或力矩实时在线地分配给各推力器。以PD控制器及一种新的推力分配模型为例对此建模方法进行了仿真研究,并以传统动力定位控制对象模型为参考进行了对比仿真研究。仿真结果表明,分层动力定位控制系统模型既能体现出实际动力定位系统的混合和时滞特性,使仿真研究更具有现实意义,又能研究若干推进器故障或损坏对整个定位系统的定位性能的影响。A modeling method of dynamic positioning Hierarchical Control System using Matlab Stateflow toolbox was proposed. During the modeling process, firstly the ship motion model of three degrees of freedom was set up according to the ship motion features, and the real-time thrust allocation computing model was also established, which assured the output force and torque of the controller be assigned real-time online to each thruster. The PD controllers and a new thrust allocation model were taken as examples to test the hierarchical positioning control system in simulations, and comparative study with the traditional positioning control system was also carried out. The simulation results demonstrate that the hierarchical positioning control system can not only reflect integrated and delay characteristics of the actual ship dynamic positioning system, which brings more practical significance of the simulation study, but also can study the effect on the entire system produced by an accidental damage of one or several thrusters.

关 键 词：动力定位 分层控制 实时推力优化 STATEFLOW 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]