基于结构可靠性的锚泊辅助动力定位滑模控制  

Thruster-assisted Mooring Positioning Sliding Mode Control Based on Structural Reliability

作　　者：王元慧[1] 李子宜 张晓云 张潇月 WANG Yuanhui;LI Ziyi;ZHANG Xiaoyun;ZHANG Xiaoyue(College of Automation,Harbin Engineering University,Harbin 150001,China;Harbin Marine Boiler and Turbine Research Institute,Harbin 150078,China)

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]哈尔滨船舶锅炉涡轮机研究所,哈尔滨150078

出　　处：《船舶工程》2020年第8期91-96,共6页Ship Engineering

基　　金：国家自然科学基金项目(51879049);黑龙江省自然科学基金(LH2019E039)。

摘　　要：针对长期定位在深海恶劣海况下的浮式生产储卸油装置(FPSO)的作业安全问题,提出一种基于缆线结构性的锚泊辅助动力定位滑模控制方法。通过引入结构可靠性因子表征锚泊系统缆线的安全,在此基础上设计一种新型滑模控制器;通过控制结构可靠性因子和艏向达到FPSO锚泊辅助定位目的,并证明系统的稳定性。通过一系列的仿真试验,证明提出的基于结构可靠性的滑模控制器的有效性、安全性和节能性。Aiming at the operation safety issues of floating production storage and offloading vessels(FPSOs)that are always positioned in deep sea under severe sea conditions for years,the paper proposes a sliding mode control method of thruster-assisted mooring positioning control based on structural reliability.The safety of the mooring cables is characterized by introducing a structural reliability factor.Thus,a novel sliding mode controller combined with structural reliability factor is designed,accordingly.Thruster-assisted mooring positioning of the FPSO is achieved by control structural reliability factor and heading angle.The stability of the system is proved.Through a series of simulations,the effectiveness,safety and energy saving of the proposed sliding mode controller based on structural reliability are proved.

关 键 词：浮式生产储卸油装置 锚泊辅助动力定位 结构可靠性因子 滑模控制 

分 类 号：U674.38[交通运输工程—船舶及航道工程]