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Mitigating Roll-Pitch Motion by an Adaptive Fuzzy Damping Controller in Dynamic Positioning System

机译：通过动态定位系统中的自适应模糊阻尼控制器缓解辊间距运动

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For dynamic positioning systems, a three degree-of-freedom motion controlin the horizontal plane has usually been regarded as adequate forpractical applications. However, for marine structures with small waterplanearea and low metacentric height, an unintentional coupling phenomenabetween the vertical plane and the horizontal plane will be inducedby the thruster actions. In order to effectively mitigate the thrusterinduced roll and pitch motion, a fixed damping controller is first appliedfor the dynamic positioning of a semi-submersible platform in head seas.Then a novel adaptive fuzzy damping controller is further proposed toimprove the pitch mitigating effects. The fuzzy controller takes the lowfrequencypitch angle and pitch rate as input, and outputs the time varyingdamping control coefficient through fuzzy inference. Comparisonsare made between the fixed damping controller and the proposed fuzzydamping controller. The simulation results reveal that the adaptive dampingcontroller has outstanding performance in both horizontal and verticalmotions.
机译：对于动态定位系统，三维自由度运动控制在水平面通常被认为是足够的实际应用。但是，对于带有小水垫的海洋结构面积和低偏心高度，无意的耦合现象将诱导垂直平面和水平平面之间通过推进器行动。为了有效减轻推进器诱导辊和俯仰运动，首先应用固定阻尼控制器用于半潜式平台在海洋中的动态定位。然后进一步提出了一种新型自适应模糊阻尼控制器提高音调减轻效应。模糊控制器占据了低频率俯仰角度和音高速率作为输入，并输出时间变化通过模糊推断阻尼控制系数。比较在固定阻尼控制器和建议的模糊之间制作阻尼控制器。仿真结果表明，自适应阻尼控制器在水平和垂直方面具有出色的性能动议。

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