锚泊辅助动力定位系统预测控制  

Predictive control of a thruster-assisted mooring positioning system

作　　者：夏国清[1] 刘彩云 陈兴华[1] 李娇娇 XIA Guoqing;LIU Caiyun;CHEN Xinghua;LI Jiaojiao(College of Automation,Harbin Engineering University,Harbin 150001,China;Suzhou Huichuan Technology Limited Company,Suzhou,Suzhou 215000,China)

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]苏州汇川技术有限公司,江苏苏州215000

出　　处：《哈尔滨工程大学学报》2019年第1期168-173,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51609046)

摘　　要：针对锚泊辅助动力定位系统预测控制中的实时性特征,本文选择隐式广义预测控制算法对混合定位船舶控制器进行设计。对于广义预测控制算法滚动优化过程中需引入繁琐的丢备图方程中引起的实时性差问题,采用隐式自校正方法进行了修正。通过利用递推最小二乘法直接辨识控制增量表达式中的参数,减少了计算复杂度,从而满足了控制器的实时性要求。隐式GPC不仅具有传统的GPC算法的优点,而且鲁棒性更好。通过船舶混合定位系统的仿真结果可以看出,隐式GPC算法具有良好的性能,提高了混合定位系统的定位精度和性能。In this paper,the real-time issues in predictive control of thruster-assisted mooring positioning systems is studied,and an implicit general predictive control algorithm was used to design the controller for the hybrid positioning vessel.The real-time problem caused by the cumbersome diophantine equation in the global process control(GPC)rolling optimization process was modified by an implicit self-tuning method.The parameters in the control incremental expression were directly identified by the recursive least squares method,which greatly reduced the computational complexity,so as to meet the real-time requirements of the controller.Results showed that the implicit GPC not only has the advantages of traditional GPC algorithms,but also has better robustness.It can be seen from the simulation results of the ship hybrid positioning system that the implicit GPC algorithm has better performance,improving the positioning accuracy and performance of the hybrid positioning system.

关 键 词：锚泊辅助动力定位 广义预测控制 实时性 隐式算法 递推最小二乘法 计算复杂度 鲁棒性 定位精度 性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]