基于广义预测控制的船舶动力定位约束控制

鉴于广义预测控制(GPC)方法能用同一方式处理设备和安全约束,且具有较强的抗扰动能力,提出了一种基于GPC的船舶动力定位约束控制器设计方法。运用前馈控制器克服风力扰动的影响,且所产生的前馈量被用来实时修正推力约束,在修正后的推力约束下滚动优化GPC。对承受风、浪、流扰动的某供应船,采用提出的方法设计控制器,并进行仿真验证。仿真结果表明,所设计的控制器抗扰动能力较强,能完成对船舶的动力定位约束控制。

Constrained control of ship dynamic positioning system based ongeneralized predictive control

In generalized predictive control technology the same approach can be used to deal with equipment and security constraints, and generalized predictive controllers have strong disturbance rejection ability. In view of that, this paper proposes a design method of constrained controllers for ship dynamic positioning systems based on GPC. For any one of freedoms, the control command is the sum of the thrust feed forward value and the output of a generalized predictive controller. The thrust feed forward is produced by a feed forward controller to overcome the impact of wind disturbance. Meanwhile the thrust feed forward value corresponding to wind force is used to perform real-time correction of the thrust Constraint. Further, under the modified thrust constraint the generalized predictive controller is rollingly optimized. MATLAB simulations are carried out to verify the performance of dynamic positioning ship with the designed constrained controller under disturbances induced by wind, wave and current. Simulation results show that the GPC based controller possesses strong disturbance rejection ability and realizes the ship dynamic positioning under various disturbances of marine environment.