Research On Control Algorithm Of Ship Dynamic Positioning System And Development Of Experimental Platform

With the rapid development of China's economy,the demand for energy is increasing,the exploitation of marine oil and gas resources are urgently demanded.However,the marine environment in south china sea is very complex,and the exploitation of oil and gas is very difficult.Platforms on sea need to keep their position during operation.Traditional mooring posi-tioning system can not work properly in deep sea such as south china sea,but dynamic position-ing system can.The operating range of the dynamic positioning system is not affected by the depth of water,and it is not necessary to set up the anchors in advance,and the desired location can be changed flexibly at any time.In order to research the dynamic positioning system(DPS),this paper expounds the his-torical origin of the ship DPS,introduces the classification standards and industry status of the DPS,and studies the technical route and system structure of DPS.On this basis,this paper gives out one practical dynamic positioning algorithm,designs and constructs one corresponding ex-perimental platform,which is a lake environmental dynamic positioning experimental ship,and uses this platform to test the algorithm.Control algorithm is the key of the performance of DPS.This paper focuses on the re-search of dynamic positioning algorithm.In this paper,the kinematic model of the DP ship is established in theory.The relation between the earth coordinate system and the ship coordinate system is given,and the interference model of wind,wave and flow are established.Based on the mathematical analysis,a innovative fuzzy position control algorithm is given.Finally,the simulation experiment is completed with the theoretical model,and the dynamic positioning ex-periment is carried out in the lake,and the control effect of the dynamic positioning algorithm is analyzed.Another part of this work is to build the experimental platform,the paper describes the complete process of the design and manufacture of a dynamic positioning experimental ship.The purpose of building an experimental platform is to test and evaluate the effectiveness of the control algorithm,and to provide a test platform for future research.In this paper,the design concept and manufacturing process of the experimental platform are explained in detail from the point of view of mechanical design,electrical system design,control software and so on.In addition,the engineering problems and solutions are also described.This paper presents a dynamic positioning control algorithm,and tests the validity of the algorithm through simulation and experiment.And summers up some experience and lessons in the design and manufacture of the experimental platform.Therefore,this paper has some ref-erence value for the research of dynamic positioning algorithm and the construction of dynamic positioning experiment platform.