Research On Dynamic Positioning Of Marine Observation Platform

Human observe Marine frequently in recent years,in order to better analyze the Marine environment and seabed geological information,design a Marine observation platform which has large range,long distance,owning two kinds of working status such as suspension and bottom,can better help the researchers.Marine observation platform can sit at ocean bottom to observe marine geology,it can also be suspended to detect water quality information,which overcomes the shortcomings of traditional marine observation equipment which confined to the surface or under water,but also get rid of the defects such as the buoy and subsurface buoy cannot independent movement,marine observation platform has broad prospects for development.Marine observation platform needs to maintain a certain observation position and does not move in the currents in the task,in order to achieve this function,we need to design a suitable controller and thrust allocation method,but the state of platform motion is complex under current disturbance,so this paper studied the dynamic positioning of marine observation platform,the main research contents are as follows:First of all,the reference Fossen marine vehicle model and under-actuated AUV dynamics model,build the dynamics model of the platform structures,using the principle of relative velocity,and improve dynamic equations under the current disturbance,finish no power and direct simulation of hydrostatic and direct rotary simulation,steady uniform flow using the maneuverability simulation software,analysis the platform dynamics,estimated maximum anti current disturbance capacity of platform.Secondly,according to the results of dynamic analysis,the tracking differential S face heading controller and the extended state S plane position controller are designed,the thrust allocation method which regulated location and heading together is selected for engineering project,using semi physical simulation platform to examine hardware reliability and feasibility of algorithm,then analyzes the effect of controller under current and hydrostatic.Finally,the dynamic positioning of marine observation tank test platform is designed and completed,experiments were validated in hydrostatic and flow field under two different conditions,the test results and the semi physical simulation were compared,verified the dynamic performance test platform,the reliability of the dynamic positioning system,reasonable control and thrust allocation algorithm,which laid the foundation for the the future engineering application platfo...