动力定位浮托数值模拟PID参数整定及影响  

PID Parameters Design for DP Floatover Simulation and its Influence

作　　者：张萍 李新超 韩仕强 张万里 阮志豪 ZHANG Ping;LI Xinchao;HAN Shiqiang;ZHANG Wanli;RUAN Zhihao(Nengwei(Tianjin)Engineering Services Co.,Ltd.,Tianjin 300392,China;Offshore Oil Engineering Co.,Ltd.,Tianjin 300461,China)

机构地区：[1]能威(天津)海洋工程技术有限公司,天津300392 [2]海洋石油工程股份有限公司,天津300461

出　　处：《中国海洋平台》2025年第2期52-58,共7页China offshore Platform

基　　金：海洋石油工程股份有限公司恩平油田群总包工程项目(编号:C-0820008)。

摘　　要：针对比例-积分-微分(Proportional Integral Derivative,PID)控制系统,以恩平20-4组块动力定位(Dynamic Positioning,DP)浮托为依托,采用经验参数法与控制变量法相结合的方法,研究PID控制系统中比例参数K_(p)和微分参数K_(d)对浮托船定位精度(偏移半径)和推进器利用效率的影响。结果表明,随着K p的增大,推进器利用效率增加,甚至出现过盈的现象,偏移半径则是先减小后增大。采用控制变量法对K_(d)取值进行验证,表明随着K_(d)的增大,推进器利用效率增加,偏移半径反而有增大的趋势。研究为DP数值模拟中PID参数的选择提供依据。Aimed at the Proportional Integral Derivative(PID)control system,based on EP20-4 topside Dynamic Positioning(DP)floatover,combining the method of the empirical parameter method and variation control method,the influence of proportional coefficient K_(p)and differential coefficient K_(d)on the positioning precision(offset radius)and thruster efficiency of the floatover vessel is researched.The results show that with the increase of K_(p),the thruster efficiency increases,even the phenomenon of interference may occur,while the offset radius reduces first and then increases.The validation of K_(d)by the method of variation control method shows that the thruster efficiency increases with the increase of K_(d),while the offset radius increases.The research provides basis for the selection of PID parameters in DP simulation.

关 键 词：动力定位浮托 PID控制系统 偏移半径 推进器利用效率 比例参数 微分参数 

分 类 号：TE42[石油与天然气工程—油气田开发工程]