Research On Control Technology Of Dynamic Positioning Ship Assisted Mooring System

The resources in the ocean have become more and more important in the case of the growing lack of resources in the world today.As an important technology for the development of deep-sea ocean resources,the technology of positioning system has been studied by more and more people.At present,the main positioning techniques are mooring system positioning and dynamic system positioning technology.The emerging dynamic positioning auxiliary mooring system positioning technology combines the advantages of both of the two,with higher stability,redundancy and smaller power consumption.And the dynamic positioning auxiliary mooring system has high positioning precision,which can make the floating structure of the ship normal operation in the complex and abominable marine environment.Therefore,it is of great significance to study the dynamic positioning auxiliary mooring system.In this paper,a marine engineering ship is taken as the research object,the application of dynamic positioning auxiliary mooring system on it is analyzed and introduced.The independent design and simulation verification of the mooring system and the dynamic positioning system are completed respectively.In addition,two kinds of positioning methods are combined to form a dynamic positioning auxiliary mooring system.Finally,according to the working principle of the dynamic positioning auxiliary anchoring system and the motion model of the offshore engineering ship,the motion simulation program under the control of the dynamic positioning auxiliary anchor system is compiled,so as to realize the control technology of the offshore engineering ship under the control of the system.In the design of mooring system,the analysis program of static characteristics is compiled on the basis of catenary theory and compared with the reference literature.Then the program is used to simulate the underwater shape of the anchor chain under different pretension and the characteristics of static recovery force.Finally,the dynamic characteristics of the mooring line are analyzed.In the design of dynamic positioning system,mainly describes the design of controller in dynamic positioning system.First describe the components and principle of ADRC.Then,the improvement of ESO based on Fal function filter is introduced,and the total disturbance of the system is estimated and compensated in real time by ESO with filtering function.Finally,the simulation of the target ship is carried out on the basis of ADRC.In the dynamic positioning auxiliary mooring system,determine the parameters of the extended state observer with the concept of bandwidth,solves the difficult problem of parameter adjustment;and proposed four order linear ESO to estimate the total disturbance of the next sampling time,and real-time compensation;finally the effect of dynamic positioning assisted mooring system was designed in the target ship.