基于结构可靠性的锚泊辅助动力定位滑模控制

针对长年累月定位在深海恶劣海况下的浮式生产储卸油装置(Floating Production Storage and Offloading vessels，FPSOs)的作业安全问题，本文提出了一种基于缆线结构性的锚泊辅助动力定位滑模控制方法。通过引入结构可靠性因子，表征锚泊系统缆线的安全，在此基础上设计一种新型滑模控制器，通过控制结构可靠性因子和艏向以达到FPSO锚泊辅助定位目的，并证明了系统的稳定性。通过一系列的仿真实验，证明了所提出的基于结构可靠性滑模控制器的有效性、安全性和节能性。

Thruster-assisted Mooring Positioning Sliding Mode Control based on Structural Reliability

Aiming at the operation safety issues of floating production storage and offloading vessels (FPSOs) that are always positioned in deep sea under severe sea conditions for years, this paper proposes a sliding mode control method of thruster-assisted mooring positioning control based on structural reliability. The safety of the mooring cables is characterized by introducing a structural reliability factor. Thus, a novel sliding mode controller combined with structural reliability factor is designed, accordingly. Thruster-assisted mooring positioning of the FPSO is achieved by control structural reliability factor and heading angle. The stability of the system is proved. Through a series of simulations, the effectiveness, safety and energy saving of the proposed sliding mode controller based on structural reliability are proved.