哈尔滨工程大学学报Issue(6)：701-706,6.DOI:10.3969/j.issn.1006-7043.201305031
基于模型预测控制的动力定位过驱动控制设计
Over-actuated controller design for dynamic positioning system based on model predictive control
摘要
Abstract
The dynamic positioning system ( DPS) of the deepwater semi-submersible platform can only control low-frequency motions of surge, sway and yaw. DPS can be considered as an over-actuated system, because the number of propellers is more than the horizontal plane degrees of freedom. Model predictive control ( MPC) which integrates the virtual control force calculation and thrust allocation was adopted. The control forces were explicitly expressed by the propellers'thrust forces, which fully considered the propellers′physical performance, and the thrust change rate was considered as the control parameters. In the design, the environment disturbance was predicted firstly based on the current dynamic states, achieving the initial distribution of environmental perturbations by using the least squares method. And then the standard model predictive control was done, which takes full consideration of the thrust loss due to thrust-thrust interaction problems. It effectively avoided thrust loss by setting the thrust angle between the upstream and downstream thrusters. Based on these designs, while the virtual control forces are gotten, they are allocated directly. Finally the effectiveness of the algorithm is verified.关键词
半潜式平台/动力定位/过驱动系统/模型预测控制/扰动补偿/约束控制/推力分配/推力损失Key words
semi-submersible platform/dynamic positioning/over-actuated system/model predictive control/dis-turbance compensator/constrained control/thrust allocation/thrust loss分类
交通工程引用本文复制引用
梁海志,李芦钰,欧进萍..基于模型预测控制的动力定位过驱动控制设计[J].哈尔滨工程大学学报,2014,(6):701-706,6.基金项目
国家973计划资助项目（2011CB013702；2011CB013703）；创新研究群体科学基金资助项目（51221961）． （）
