| As the dredger ship working place get more and more deep in ocean, the traditional position control measurement can not meet the requirement. DP(Dynamic positioning) can overcome the disturb from the sea wine and the ocean currents to keep the dredger ship in the accurate working position depend on thrust power system. The dredger ship with the DP system has the advantage such as water depth limitless, accurate position controlled, and good working efficiency. So DP provide guarantee to make TSHD (Trailing Suction Hopper Dredger) accurate positioning, faster dredge speed,improve dredge program level and increase economic benefits.At the beginning, this paper study how to establish TSHD DP ships’model base on the special working condition, including the high frequency and the low frequency model. And then we establish the external force which act on the TSHD,such as the main control force, the hydrodynamic model, marine environmental force model and so on. Due to the high frequency movement only cause the ship vibration periodically but not the mean position changed. In order to reduce the energy waste and the force device wear, we should design the wave filter which can filtering out the low frequency signal from the comprehensive signal. We also study how to design the Kalman filter to filter out the high frequency motion and the measurement noise. Through the kalman filter simulation test, we found the kalaman filter which we designed has the good effect. At last, we focus on the DP Control Algorithm. According to the experience of the TSHD staff, we provide the fuzzy rules base on the different deviation of the TSHD working position. And the FUZZY-PID controller is simulated in the Matlab"s Fuzzy module and Simulink plat, the result shows that FUZZY-PID control algorithm is more suitable for the DP system of the TSHD than the normal PID control algorithm.The main research results in this thesis has applicated in some a large TSHD and achieved very good results and high praise. |
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