本文選題：半潛式海洋平臺 + 動力定位�。� 參考：《江蘇科技大學(xué)》2017年碩士論文

【摘要】：動力定位技術(shù)伴隨著人們開發(fā)海洋資源的深入而不斷發(fā)展,并廣泛地運用于半潛式海洋平臺及船舶上。控制方法的優(yōu)劣對于動力定位系統(tǒng)至關(guān)重要,然而,半潛式海洋平臺是一個非線性且伴有較大不確定性的系統(tǒng),導(dǎo)致不能很精確地建立它的系統(tǒng)模型,同時海洋環(huán)境干擾較為復(fù)雜,因此人們需要尋找更加有效的控制方法以提高動力定位精度。自抗擾控制是近年來發(fā)展起來的一種先進(jìn)控制技術(shù),在處理非線性系統(tǒng)和大滯后被控對象的控制問題上效果顯著,但自抗擾控制仍然存在一些弊端,需要加以改進(jìn)。因此,本文著眼于引入其他控制方法與自抗擾控制相結(jié)合,構(gòu)成復(fù)合自抗擾控制策略,并將其運用于動力定位領(lǐng)域。主要內(nèi)容如下:1.對半潛式海洋平臺三自由度低頻模型及風(fēng)、浪、流等外界海洋環(huán)境模型進(jìn)行了探討,為便于設(shè)計控制器,對平臺低頻模型作了變形轉(zhuǎn)換,并做了仿真分析以檢驗所建立的模型是否符合平臺一般運動規(guī)律。2.對自抗擾控制基本原理進(jìn)行了介紹,指出其對多變量耦合系統(tǒng)的控制較為有效,在此基礎(chǔ)上,對平臺模型進(jìn)行了解耦。此外,在海洋平臺動力定位系統(tǒng)上進(jìn)行了PID控制與自抗擾控制的仿真結(jié)果對比,以直觀地闡述自抗擾控制相對PID的優(yōu)勢以及自抗擾控制自身的不足。3.針對自抗擾控制器的擾動估計能力不足問題,引入了一種新型連續(xù)光滑非線性函數(shù)對擴(kuò)張狀態(tài)觀測器進(jìn)行改進(jìn)。同時,用非奇異終端滑模控制代替了非線性狀態(tài)誤差反饋控制律,以提高系統(tǒng)的快速響應(yīng)能力與穩(wěn)定性。仿真結(jié)果也表明了滑模自抗擾動力定位控制器的優(yōu)良性能,且該方案對推力系統(tǒng)的要求較低,經(jīng)濟(jì)性較好。4.為實現(xiàn)動力定位控制器擾動估計能力的再提高,引入了動態(tài)面控制思想對擴(kuò)張狀態(tài)觀測器進(jìn)行改造。仿真結(jié)果表明,相對于用連續(xù)光滑非線性函數(shù)對擴(kuò)張狀態(tài)觀測器進(jìn)行改進(jìn)的傳統(tǒng)思路,動態(tài)面擴(kuò)張狀態(tài)觀測器方案能大幅提高控制器擾動估計能力,增強(qiáng)了控制器對復(fù)雜海洋環(huán)境干擾的適應(yīng)能力。
[Abstract]:With the development of marine resources, dynamic positioning technology has been widely used in semi-submersible offshore platforms and ships. The merits and demerits of the control method are very important for the dynamic positioning system. However, the semi-submersible offshore platform is a nonlinear and uncertain system, which makes it impossible to establish its system model accurately. At the same time, the marine environment interference is more complex, so people need to find more effective control methods to improve the dynamic positioning accuracy. Active disturbance rejection control (ADRC) is an advanced control technology developed in recent years. It is effective in dealing with nonlinear systems and large time-delay controlled objects, but there are still some drawbacks in ADRC, which need to be improved. Therefore, this paper focuses on the combination of other control methods and active disturbance rejection control to form a compound active disturbance rejection control strategy, and applies it to the field of dynamic positioning. The main content is as follows: 1. In this paper, the three degree of freedom low frequency model of semi-submersible offshore platform and the model of wind, wave and current are discussed. In order to design the controller, the low frequency model of the platform is deformed and converted. The simulation analysis is also done to verify whether the established model conforms to the general motion rule of the platform. 2. The basic principle of active disturbance rejection control is introduced, and it is pointed out that the control of multivariable coupling system is more effective. On this basis, the platform model is decoupled. In addition, the simulation results of PID control and active disturbance rejection control are compared on the offshore platform dynamic positioning system, in order to intuitively expound the advantages of active disturbance rejection control over PID and the disadvantages of auto disturbance rejection control. In order to solve the problem of insufficient disturbance estimation ability of ADRC, a new continuous smooth nonlinear function is introduced to improve the extended state observer. At the same time, the nonlinear state error feedback control law is replaced by the nonsingular terminal sliding mode control to improve the system's fast response ability and stability. The simulation results also show that the sliding mode active disturbance rejection dynamic positioning controller has good performance, and the requirement of the scheme for thrust system is lower and the economy is better. 4. In order to improve the disturbance estimation ability of the dynamic positioning controller, an extended state observer is modified by introducing the idea of dynamic surface control. The simulation results show that, compared with the traditional idea of improving the extended state observer with continuous smooth nonlinear function, the dynamic surface extended state observer scheme can greatly improve the disturbance estimation ability of the controller. The adaptive ability of the controller to complex marine environment disturbance is enhanced.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TE95;TP273

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本文編號：1780524