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.

该研究与推进器辅助系泊系统和浮动平台的动态定位系统有关。（1）在推进器辅助系泊系统中，系泊设备用于维持平台的位置，以抵抗由当前和风引起的准稳定外力。控制目的是抑制由于推进器不规则减小的漂移力而导致的缓慢漂移振荡，以便它们在波频率范围内不反应线性刺激力。该问题是在HIID2∞D2控制的框架中提出的，并使用MATLAB上的LMI控制工具箱解决了。（2）通常使用推进器的动态定位系统来控制深海区域的浮动平台位置，因为很难使用系泊系统，使用推进器的动态定位系统通常使用动态定位系统，因为很难使用推进台的位置。所提出的控制器的规范是，它保持给定位置并更改其位置，而不会使用对波频率范围内的线性刺激力响应的推进器而无需偏移。基于偏航中的旋转矩阵，引入了一个带有四个顶点的线性数学模型。该问题是在带有极区域约束的HIID2∞D2控制法的基于多模型设计的框架中提出的。进行了模型实验，结果成功。