模型预测控制在船舶动力定位模拟器中的应用  

Application of Model Prediction Control in Ship Dynamic Positioning Simulator

作　　者：钱小斌 尹勇[1] 张秀凤[1] 孙霄峰[1] 

机构地区：[1]大连海事大学航海动态仿真和控制实验室

出　　处：《系统仿真学报》2016年第10期2620-2625,共6页Journal of System Simulation

基　　金：国家863计划(2015AA016404);海洋公益性行业科研专项(201505017-4);中央高校基本科研业务费(3132016310)

摘　　要：针对船舶动力定位模拟器中控制仿真系统的需要,提出了将含有积分器的模型预测控制算法应用于模拟器中。船舶动力定位模拟器主要用于动力定位操作人员的培训和适任评估,目前国内尚未开发出具有自主知识产权、功能完备的动力定位模拟器,主要铱赖于国外进口。动力定位控制器是模拟器的核心技术之一,决定了模拟器的品质。考虑到来知缓变的海洋环境扰动对船舶的影响以及船舶推力的限制,设计了采用含有比例积分器的船舶动力定位模型预测控制器。该控制器能够使船舶在约束条件下克服外界扰动,到达并保持在期望位置。以一艘供给船为研究对象验证了算法的有效性。According to the requirement of ship Dynamic Positioning simulator control simulation system, a model predictive control scheme was proposed for DP simulator with the proportional integrator. Ship Dynamic Positioning simulator was mainly used for training and competency assessment of DP operator. At present, DP Simulator mainly depends on imports and there is no domestic DP simulator with independent intellectual property rights. Dynamic Positioning controller is one of the key technologies, which determines the performance of DP simulator. Considering the unknown slowly-varying marine environment disturbance and vessel constraints, a dynamic positioning controller was designed based on the model predictive control with proportional integrator. The controller could overcome the environment disturbance by the constrained force to reach and maintain the desired position and heading. The simulation experiments verify the effectiveness of the proposed algorithm.

关 键 词：动力定位模拟器 模型预测控制 约束 扰动 

分 类 号：U666.158[交通运输工程—船舶及航道工程]