The Research And Application Of The Ship Dynamic Positioning System Control Strategy

In this paper, a large trailing suction hopper dredger as the research background,combined with the practical application function to explore and study the controlstrategy under two modes of operation of the fixed-point positioning (DP) anddynamic tracking (DT). This thesis has a clear engineering background and practicalvalue, and its main contents include the following aspects:This article introduced the problems of conversion between geodetic coordinatesystem and onboard coordinate system according to the simulation and the real shiptest; Around the ship dynamic positioning system controller design, this articleresearch and analysis of ship operation3degrees of freedom of the kinematics anddynamics mathematical model, and in the light of trailing suction hopper dredgerDP-auto and DT-navigation mode to establish DP and DT low frequency motionmodel; At the same time to resist wind, waves, flow impact on shipping, theinterference of wind, waves, streams have been modeled.According to the trailing suction hopper dredger DP-Auto mode, using the PIDcontrol algorithm, and provides a basis for improved, increasing the structure of thereference model, make the ship in accordance with the idea of uniform motion in astable to the set-point. This design in simulation and prototype test has achieved goodcontrol effect.According to the trailing suction hopper dredger DT-navigation mode, trackcontrol is divided into linear track and turning track two parts, using the LOS controlstrategy, the speed control use PI control algorithm with the reference feedforward,heading control using the autopilot form, they are all increases the structure of thereference model.According to dredge dredging and spoil process variable draught condition, thesystem model parameters in a state of constant change, we use the self-turning PIDcontrol algorithm to carry out simulation analysis, make its can estimation systemparameters online, and as a reference for the next real ship application.The last chapter describes the dynamic positioning controller design based ongeneralized predictive control, analysis of advantages of generalized predictivecontrol algorithm compared to other control algorithm, make a MATLAB simulationand achieved good results.