华中科技大学学报（自然科学版）2013，Vol.41Issue(2)：91-96,6.
基于侧推力最小原则的船舶动力定位控制
Dynamic positioning control of ships by minimum sway-force
摘要
Abstract
Based on minimum sway-force, the heading controller and station keeping controller were designed for dynamic positioning ships. According to the theory of pendulum in the potential field, and using sliding mode technology, a surge and yaw controller was designed to make the ship keep a fixed distance to the set point and the heading be opposite from the direction of the environmental forces. A nonlinear passive observer was introduced to filter the wave frequency motions of the ship and the vessel's velocities were estimated. The state feedback was converted to the output feedback. The simulation results prove that, without cross force being output and with the small yaw moment, the controller can save fuel markedly, which is effective.关键词
动力定位/位置保持/滑模技术/侧推力最小/非线性无源状态观测器Key words
dynamic positioning/ station keeping/ sliding mode technology/ minimum sway-force/ nonlinear passive state observer分类
交通工程引用本文复制引用
夏国清,邵兴超..基于侧推力最小原则的船舶动力定位控制[J].华中科技大学学报（自然科学版）,2013,41(2):91-96,6.基金项目
国家自然科学基金资助项目(50979017) （50979017）
国家高技术船舶支持项目(GJCB09001). （GJCB09001）
