遥控潜器工作母船动力定位系统

针对我国第一艘装备动力定位系统的遥控潜器工作母船，本文重点介绍了动力定位系统的运动控制数学模型，基本控制原理，系统组成，工作方式，综合显示与集中操纵设计思想，遥控潜器工作母船已完成航行试验，结果表明：在最大风速13米／秒时，动力定位系统控位均方差在5m之内。长期实际应用证明：系统运动可靠，人机界面形象直观，操纵灵活。

Research of Dynamic Positioning System for ROV Support Vessel

This paper introduces the motion-contr ol mathematic models, basis principles, system construction, operation modes, de sign idea of integrated control and disp lay of the dynamic positioning system (D PS) equipped on an ROV support vessel th at is the first one built in china. The vessel has successfully completed its tr ial test. The MSE (mean-square error) of DPS can be controlled within 5 meters i n condition that Beaufort wind scale is greater than 5. After long time practica l steering it concludes that the DPS has advantages such as reliable performance , visual man-machine interface, feasible and effective steering, and so on.