基于广义预测控制的船舶动力定位约束控制  

Constrained Control of Ship Dynamic Positioning System Based on Generalized Predictive Control

作　　者：苏义鑫[1] 赵俊[1] 

机构地区：[1]武汉理工大学自动化学院,武汉430070

出　　处：《船舶工程》2015年第3期49-52,共4页Ship Engineering

基　　金：湖北省自然科学基金资助(2013CFB335)

摘　　要：鉴于广义预测控制(GPC)方法能用同一方式处理设备和安全约束,且具有较强的抗扰动能力,提出了一种基于GPC的船舶动力定位约束控制器设计方法。运用前馈控制器克服风力扰动的影响,且所产生的前馈量被用来实时修正推力约束,在修正后的推力约束下滚动优化GPC。对承受风、浪、流扰动的某供应船,采用提出的方法设计控制器,并进行仿真验证。仿真结果表明,所设计的控制器抗扰动能力较强,能完成对船舶的动力定位约束控制。By the generalized predictive control technology （GPC）, the same approach can be used to dealwith equipment and security constraints and has strong disturbance rejection ability. The paper proposes adesign method of constrained controllers for ship dynamic positioning systems based on GPC. The thrust feedforward is produced by a feed forward controller to overcome the impact of wind disturbance. Meanwhile thethrust feed forward value is used to perform realtime correction of the thrust Constraint. Under the modifiedthrust constraint, the generalized predictive controller is rolling optimized. The simulations are carried out toverify the performance of the dynamic positioning ship with the designed constrained controller underdisturbances induced by wind, wave and current. The simulation results show that the controller has strongdisturbance rejection ability and can realize the ship dynamic positioning constrained control.

关 键 词：广义预测控制 动力定位 约束控制 

分 类 号：U661.33[交通运输工程—船舶及航道工程]