船舶动力定位系统设计及试验研究  

DESIGN AND TEST OF DYNAMIC POSITIONING SYSTEM

作　　者：王晓声[1] 

机构地区：[1]中国船舶科学研究中心

出　　处：《中国造船》1991年第3期10-19,共10页Shipbuilding of China

摘　　要：本文把自适应卡尔曼滤波器理论和最优控制理论应用于典型的船舶动力定位系统。它是基于线性化的船舶运动方程,通过自适应卡尔曼滤波器对船舶在风、浪、流的作用下的高频运动和低频漂移分别进行估计,以保证定位控制仅仅对船的低频漂移进行补偿。本系统中的自适应滤波能自动适应海况的变化,以保证估计参数的精确。该系统设计已在中国船舶科学研究中心耐波性水池通过模型试验进行了验证。The present paper describes a computer-based dynamic positioning systemof a storage oil tanker.The system design is based on a linearized di-screte mathematical model of the vessel's motion in response to the actionsof wave,wind and current forces.By applying self-tuning Kalman filter,thehigh frequency wave-induced motions and the low frequency drift motionsof the ship are estimated separately.Thus the positioning control is made torespoand only to the low frequency drifting forces.The self-tuning filtercan track the sea state variations.The vessel is controlled by three thrusterswith an optimal control subsystem based on linear-quadratic gaussian te-chuique.Model test for validating the design philosophy has been conducted inthe seakeeping tank of CSSRC.

关 键 词：船舶 动力定位系统 设计 试验 

分 类 号：U664.822[交通运输工程—船舶及航道工程]