船舶动力定位系统控制器的设计

提出了完整的基于船舶运动数学模型的动力定位系统，并且提供了定点控制和跟踪控制两种控制方法，在跟踪控制中引入船舶运动的参考轨迹模型。应用基于卡尔曼滤波的状态观测器得到控制所需的船舶低频信号，控制器的设计采用了考虑积分作用环节的改进LQG算法，同时引入前馈以补偿风力作用以及参考轨迹模型带来的影响。最后控制器的性能通过系统的仿真得到验证。

Design of Controller for Dynamically Positioning System of Ships

A dynamically positioning system based on its mathematical model which includes ship dynamics is presented in this paper.The paper also describes two control functions which provide station keeping and tracking.A reference mode is used to calculate appropriate trajectories in tracking.A Kalman filter based state estimator is used to compute the low frequency signals.The modified LQG feedback controller which integrates free integrators,wind feedforward and model reference feedforward controller are all applied in the DP controller design.Simulation results demonstrate the performance of the proposed controller.