Research on Dynamic Positioning System for Floating Structure

浮动结构动力定位系统研究

基本信息

批准号：
10450386
负责人：
NAKAMURA Masahiko
金额：
$ 3.39万
依托单位：
KYUSHU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10450386/
关键词：
Floating Structure Thruster assisted mooring system Dynamic positioning system HィイD2∞ィエD2 Control Gain scheduling Thruster 固定式スラスター首振り型スラスター位置制御長周期動揺 LQI制御 H_∽制御

项目摘要

The research is concerned with a thruster assisted mooring system and dynamic positioning system for a floating platform.(1) In the thruster assisted mooring system, moorings are used to maintain the position of the platform against quasi-constant external forces induced by current and wind. The control purpose is to suppress the slow drift oscillation due to drifting force in irregular wanes using thrusters so they do not respond the linear exciting force in the wave frequency range. The problem was formulated in a framework of HィイD2∞ィエD2 control, and was solved using the LMI control toolbox on Matlab. Model experiments in oblique incident waves were carried out and successful results were obtained.(2) A dynamic positioning system using thrusters is generally employed for controlling a position of a floating platform at the deep sea area because it is difficult to use mooring system. The specification of the proposed controller are that it maintain a given position and to change its position without offset using thrusters that do not respond to the linear exciting force in the wave frequency range. Based on a rotation matrix in yaw, a linear mathematical model with four vertices was introduced. The problem was formulated in a framework of multi-model based design of HィイD2∞ィエD2 control law with pole region constraint. Model experiments were carried out and the results were successful.

本研究涉及浮动平台的推进器辅助系泊系统和动力定位系统。(1)在推进器辅助系泊系统中，系泊装置用于抵抗由流和风引起的准恒定外力来维持平台的位置。控制目的是抑制由于使用推进器的不规则波浪中的漂移力而导致的缓慢漂移振荡，因此它们在波浪频率范围内不响应线性激振力。该问题在以下框架中表述。 HiD2∞D2控制，利用Matlab上的LMI控制工具箱进行了求解，并进行了斜入射波模型实验，取得了成功的结果。(2)浮体位置控制一般采用推进器动力定位系统。深海区域的平台，因为很难使用系泊系统，所提出的控制器的规格是它保持给定位置并使用不响应波浪频率中的线性激振力的推进器来改变其位置而没有偏移。基于偏航旋转矩阵，在基于极点区域约束的D2∞D2控制律的多模型设计框架中引入了一个具有四个顶点的线性数学模型，并进行了模型实验。结果很成功。