单体喷水推进船舶动力定位控制方法研究  

Research on dynamic positioning of a water jet propulsion mono-hull vessel

作　　者：李刚强[1,2] 谌栋梁 葛卓 周冠泽 熊文[1,2] LI Gangqiang;CHEN Dongliang;GE Zhuo;ZHOU Guanze;XIONG Wen(Marine Design and Research Institute of China,Shanghai 200011,China;Science and Technology on Water Jet Propulsion Laboratory,Shanghai 200011,China;Shanghai Zhenhua Heavy Industries Co.,Ltd.,Shanghai 200125,China)

机构地区：[1]中国船舶及海洋工程设计研究院,上海200011 [2]喷水推进技术重点实验室,上海200011 [3]上海振华重工(集团)股份有限公司,上海200125

出　　处：《海洋工程》2022年第5期78-88,共11页The Ocean Engineering

基　　金：喷水推进技术重点实验室基金项目(6142223190405)。

摘　　要：面向一型喷水推进器为动力定位执行机构的单体喷水推进船舶,开展了船舶仿真模型建立、推力分配及进一步动力定位相关控制算法设计与仿真模拟。针对传统的定步长Kalman滤波提出了改进方案,同时考虑到单体喷水推进船舶的特殊性,对推力分配算法进行了优化,并基于荷载前馈的PD控制算法开展了不同工况下的仿真试验。试验结果表明,所提出的喷水推进推力分配算法能够有效控制一型单体喷水推进船舶实现定点、定艏向、移位、转艏等动力定位典型功能,并具备一定抗外部干扰能力。For a mono-hull vessel ship which uses two water-jet thrusters as dynamic positioning actuators,the ship simulation model establishment,thrust distribution and further dynamic positioning related control algorithm design and simulation are carried out.An improved scheme is proposed for the traditional Kalman filter with a fixed step length.At the same time,considering the particularity of the single water-jet propulsion ship,the thrust distribution algorithm is optimized,and the simulation of the proposed PD control algorithm based on the load feed forward is carried out under different working conditions.The experimental results show that the proposed water jet thrust distribution algorithm can effectively control a water jet propulsion mono-hull vessel to realize the typical functions of DP,such as fixed point,fixed heading,shift,and turn,and has a certain degree of anti-interference ability.

关 键 词：喷水推进 动力定位 推力分配 荷载前馈 KALMAN滤波 

分 类 号：P752[天文地球—海洋科学] U664.82[交通运输工程—船舶及航道工程]