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首页> 外文期刊>International Journal of Naval Architecture and Ocean Engineering >An auto weather-vaning system for a DP vessel that uses a nonlinear controller and a disturbance observer
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An auto weather-vaning system for a DP vessel that uses a nonlinear controller and a disturbance observer

机译：用于DP船的自动风标系统，使用非线性控制器和干扰观测器

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ABSTRACT An auto weather-vaning system for a Dynamic Positioning (DP) vessel is proposed. When a DP vessel is operating, its position keeping is hindered by ocean environmental disturbances which include the ocean current, wave and wind. Generally, most ocean vessels have a longitudinal length that is larger than the transverse width. The largest load acts on the DP vessel by ocean disturbances, when the disturbances are incoming in the transverse direction. Weathervaning is the concept of making the heading angle of the DP vessel head toward (or sway from) the disturbance direction. This enables the DP vessel to not only perform marine operations stably and safely, but also to maintain its position with minimum control forces (surge & sway components). To implement auto weather-vaning, a nonlinear controller and a disturbance observer are used. The disturbance observer transforms a real plant to the nominal model without disturbance to enhance the control performance. And the nonlinear controller deals with the kinematic nonlinearity. The auto weather-vaning system is completed by adding a weather-vaning algorithm to disturbance based controller. Numerical simulations of a semi-submersible type vessel were performed for the validation. The results show that the proposed method enables a DP vessel to maintain its position with minimum control force.
机译：摘要提出了一种用于动态定位（DP）船舶的自动风标系统。当DP船在运行时，其位置保持会受到海洋环境干扰（包括洋流，波浪和风）的干扰。通常，大多数海洋船的纵向长度大于横向宽度。当横向干扰进入海洋时，最大的负载将受到海洋干扰。风向标是使DP船头的航向角朝向（或从）扰动方向倾斜的概念。这使DP船不仅能够稳定，安全地执行海上作业，而且还能以最小的控制力（浪涌和摇摆分量）保持其位置。为了实现自动风标，使用了非线性控制器和干扰观测器。干扰观测器将真实工厂转换为标称模型而无干扰，以增强控制性能。非线性控制器处理运动非线性。通过向基于干扰的控制器添加风标算法，可以完成自动风标系统。为了验证，进行了半潜式船的数值模拟。结果表明，所提出的方法使DP船能够以最小的控制力保持其位置。

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