大连海事大学学报 >
2016 , Vol. 42 >Issue 4: 13 - 18
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.04.003
基于非线性分离式原理的动力定位环境最优控制
(1.武汉理工大学 交通学院,武汉 430063; 2.高性能船舶技术教育部重点实验室,武汉 430063)
收稿日期: 2016-03-08
修回日期: 2016-05-03
网络出版日期: 2016-05-03
基金资助
国家自然科学基金资助项目( 61301279;51479158).
Weather optimal control of dynamic positioning system based on nonlinear separation principal
(1.School of Transportation,Wuhan University of Technology,Wuhan 430063,China； 2.Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan 430063,China)
Received date: 2016-03-08
Revised date: 2016-05-03
Online published: 2016-05-03
瞿洋 , 徐海祥 , 余文曌 . 基于非线性分离式原理的动力定位环境最优控制[J]. 大连海事大学学报, 2016 , 42(4) : 13 -18 . DOI: 10.16411/j.cnki.issn1006-7736.2016.04.003
As it’s difficult to measure the sway force and yaw moment under the unknown environmental forces, a new circle center control law for dynamic positioning system was proposed to solve the problem of weather optimal heading and position keeping simultaneously. In addition, a PID controller for the cascaded passiveobservercontroller system was designed based on the nonlinear separation principal, and the stability of cascaded system was guaranteed. Simulation results demonstrate the validity of the proposed circle center control law.
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