移动式近海基地的动力定位控制研究

移动式近海基地是一个大型的、浮动的、自行驱动的、由三至五个模块组成的海洋结构.其中的每个模块均能在风、浪、流作用力下实现长期定位.本文首先讨论了针对移动式近海基地的控制架构.然后针对近海基地中的单独模块设计了一个非线性带前馈的比例微分(PD)控制器,并将其应用到多个模块的运动控制中.文中同时给出了所设计的控制系统的仿真结果.

Study of Dynamic Positioning Control System for Mobile Offshore Base

The Mobile Offshore Base(MOB) is a large,self-propelled,floating and pre-positioned structure composed of three to five modules.Each of the modules has to keep its position in a long term even under the effect of the wind,wave and current.In this paper,a control hierarchy for the MOB is discussed,and then a nonlinear PD+feedforward controller for a single module of a MOB is developed and extended to use to the control of multiple modules.And also,the simulation of the designed control system is presented.