起重船动力定位系统控制技术研究

发布时间：2018-04-13 06:33

本文选题：起重船 + 动力定位　；参考：《江苏科技大学》2017年硕士论文

【摘要】：海洋事业的发展步伐一直在加快,人们开始注重深海的开发,在海洋工程建设过程中,起重船是一个不可或缺的重要部分。起重船作业环境复杂,随着起重船的大型化,起重操作过程中发生危险的可能性变大,因此为了保证起重船作业时的安全性和平稳性,提高作业效率,对动力定位的性能要求越来越苛刻。本文以1000t起重船为研究对象,针对起重船的作业特点,分别设计了新型自抗扰控制器和基于扩张观测器的自适应反演滑模控制器来实现起重船运动的平稳控制。本文在Thor I.Fossen所提出的船舶动力定位系统运动模型的基础上,降低起重船模型的复杂度,仅考虑吊物系统对船体的影响,建立了三自由度的起重船数学模型,并且根据球摆模型建立了吊索张力的数学模型。然后针对海洋环境(风、浪、流)作用力和力矩建立了环境扰动力的数学模型。阐述了自抗扰控制器的工作原理和组成部分,针对自抗扰控制器在实际工程运用中参数调整难度大的问题,研究了线性自抗扰控制器。为了进一步提高线性自抗扰控制器的动态性能,结合线性与非线性跟踪微分器的优点,设计了能够较好跟踪微分信号的改进跟踪微分器,从而构成新型线性自抗扰控制器。仿真实验结果表明,相比于传统的线性自抗扰控制器,基于改进跟踪微分器的线性自抗扰控制器有较强的鲁棒性和抗扰性。针对起重船动力定位系统易受到外部环境干扰以及船舶模型参数无法确定的问题,设计了基于扩张观测器的自适应反演滑模控制器。将系统分为内环观测器和外环控制器分别设计,首先利用扩张观测器估计系统的未知状态及不确定项,然后在外环的自适应反演滑模控制器中进行补偿,最后用Lyapunov方法证明系统的稳定性。通过船舶定点控制仿真实验表明,基于扩张状态观测器的自适应反演滑模控制器具有较强的鲁棒性和控制性,能够有效抑制传统滑模控制的抖振问题,益于船舶工程应用。
[Abstract]:The pace of marine development has been accelerated, people began to pay attention to the development of the deep sea, in the process of ocean engineering construction, crane is an indispensable important part.The working environment of lifting ship is complex, and the possibility of danger in the process of crane operation becomes greater with the large-scale lifting ship, so in order to ensure the safety and stability of crane ship operation, improve the efficiency of operation.The performance requirements for dynamic positioning are becoming more and more stringent.In this paper, a 1000t hoisting ship is taken as the research object. According to the operational characteristics of the crane, a new type of ADRC and an adaptive inverse sliding mode controller based on extended observer are designed to realize the stationary control of the hoisting ship's motion.Based on the kinematic model of ship dynamic positioning system proposed by Thor I.Fossen, this paper reduces the complexity of lifting ship model, only considers the influence of hoisting system on hull, and establishes a three degree of freedom mathematical model of hoisting ship.The mathematical model of sling tension is established according to the spherical pendulum model.Then, a mathematical model of environmental disturbance force is established for the force and moment of ocean environment (wind, wave, current).The working principle and components of the ADRC are described. Aiming at the difficulty of adjusting the parameters of the ADRC in practical engineering, the linear ADRC is studied.In order to further improve the dynamic performance of the linear ADRC, an improved tracking differentiator which can track the differential signals is designed by combining the advantages of the linear and nonlinear tracking differentiators, thus a new type of linear ADRC controller is constructed.The simulation results show that the linear ADRC controller based on the improved tracking differentiator is more robust and robust than the traditional linear ADRC controller.Aiming at the problem that the dynamic positioning system of crane ship is vulnerable to external environment disturbance and the parameters of ship model can not be determined, an adaptive inverse sliding mode controller based on extended observer is designed.The system is divided into inner loop observer and outer loop controller. The extended observer is used to estimate the unknown state and uncertainty of the system, and then the outer loop adaptive inversion sliding mode controller is used to compensate.Finally, the stability of the system is proved by Lyapunov method.The simulation results of ship fixed-point control show that the adaptive inverse sliding mode controller based on extended state observer has strong robustness and control, and can effectively suppress the buffeting problem of traditional sliding mode control, which is beneficial to the application of ship engineering.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U674.35;TP273

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