PID参数对动力定位系统定位精度的影响  

Effects of Selection of PID Coefficients on Positioning Accuracy of DP System

作　　者：张嫦利 王磊[1] 李博[1] 徐胜文[1] 

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《实验室研究与探索》2015年第3期8-12,共5页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(51179103)

摘　　要：海洋开发促进了动力定位技术在海洋结构物上的应用。动力定位系统能使海洋结构物保持在目标位置和艏向角上。PID控制器在动力定位系统中应用广泛,其参数的选择显著影响动力定位系统的定位精度。为了提高动力定位系统定位精度,借助一个时域模拟软件对PID控制器的参数即比例增益系数Kp、积分增益系数Kd和微分增益系数Ki进行了研究。结果显示,动力定位系统的定位精度受到控制器参数选择的影响。对于研究的动力定位驳船,通过试凑法找到满足定位要求的一组控制参数后,通过控制变量法轻微增加Kp、Kd或Ki会使得定位精度增加。试凑法和控制变量法选取控制器参数的方法将对工程中操作动力定位系统具有一定的参考价值。Offshore exploration has promoted the development of dynamically positioned（ DP） marine structures. With dynamic positioning system,ocean constructions can be kept at a desired position and heading. PID controller is widely used in the DP system（ DPS）. Furthermore,the positioning ability is essentially affected by the selection of PID coefficients. To enhance the positioning accuracy,the influence of the parameters of PID control,which include proportional gain,derivative gain and integral gain are investigated by a dynamic positioning simulation program. The obtained results indicate that the positioning accuracy is influenced strongly by these coefficients. As for the studied barge,a set of parameters is obtained by trial-and-error method,the positioning accuracy of the DPS increases as increasing Kp,Kior Kdslightly using control variable method. Additionally,a guidance that combines trial-and-error method and control variable method on the selection of the coefficients is given,the method may be useful for the operator of DPS.

关 键 词：动力定位 PID控制 时域模拟 定位精度 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]