多源干扰下船舶动力定位系统的复合分层控制研究

The dynamic positioning system is an important support system to ensure that the ship operates in the deep and distant sea. Since the ship is subject to multi-source disturbances from ocean waves, wind and currents, the ship dynamics have obvious uncertainties. It is difficult to guarantee the reliability of the ship dynamic positioning system by relying on a single control strategy. Therefore, designing the composite control algorithm is critical to enhancing the reliability of the ship dynamic positioning system. This project intends to construct a composite hierarchical adaptive wave filter based on adaptive disturbance observer and H∞ filter. It is employed to filter out the ship oscillatory motion caused by high-frequency waves. The excessive wear of actuators due to the compensation for oscillatory motion is avoided. Then, a composite hierarchical active anti-disturbance control method is proposed for ship dynamic positioning. Considering the failures of ship velocity sensor and actuators, an observer with disturbance decoupling capability is designed to online reconstruct the ship velocities and the actuator fault information simultaneously. Based on the above, a composite hierarchical fault-tolerant anti-disturbance output feedback control method is proposed. This project is intended to provide the theoretical methods for improving the anti-disturbance capability and ensuring the safety of the dynamic positioning system.

动力定位系统是保证船舶在深远海作业的重要支持系统。由于船舶受到来自海浪、海风及海流等多源干扰的影响，使船舶动态呈现明显的不确定性，仅依靠单一的控制策略很难保障船舶动力定位系统的可靠性。因此，设计复合控制算法对增强船舶动力定位系统的可靠性至关重要。本项目拟构造基于自适应干扰观测器和H∞滤波器的复合分层自适应海浪滤波器，滤除高频海浪引起的船舶振荡运动，以避免执行器补偿振荡运动所引起的过度磨损，进而提出船舶动力定位复合分层主动抗干扰控制方法。考虑船舶的速度传感器和执行器同时发生故障的情况，设计具有干扰解耦的观测器，同时对船舶速度与执行器故障信息进行在线重构，提出复合分层容错抗干扰输出反馈控制方法。本项目拟为提高船舶动力定位系统的抗干扰能力和保障系统的安全性提供理论方法。

随着海洋的开发不断向资源更加丰富的深远海进军，传统锚泊定位受作业水深的限制而无法满足深远海的定位要求。动力定位系统使船舶或钻井平台利用自身推进装置产生的动力来抵抗海洋环境干扰，以一定姿态保持在海面的期望位置上或沿着预设轨迹航行，具有不受水深限制和定位精度高等优点，成为深远海开发的重要支持系统。船舶受到海浪、海风及海流的综合影响，不同海况下船舶动态具有非线性和不确定性特点，仅依靠单一的控制策略很难保障船舶动力定位系统的鲁棒性，有必要采用不同控制方法设计动力定位复合控制器。本项目构造了基于自适应干扰观测器和H∞滤波器的复合分层海浪滤波器，滤除高频海浪引起的船舶振荡运动，避免执行器补偿振荡运动所引起的过度磨损，提出了船舶动力定位复合分层主动抗干扰控制方法。考虑船舶的速度传感器和执行器同时发生故障的情况，设计了具有干扰解耦的观测器，同时对船舶速度与执行器故障信息进行在线重构，提出了复合分层容错抗干扰输出反馈控制方法。本项目为提高船舶动力定位系统的抗干扰能力和保障系统的安全性提供了理论方法。依托本研究项目在IEEE汇刊、International Journal of Robust and Nonlinear Control、Ocean Engineering等国际权威期刊发表学术论文16篇，包括中科院TOP期刊论文6篇，授权国家发明专利8项和软件著作权3项，组建了智能控制创新团队，获批山东省高等学校优秀青年创新团队。

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