The invention relates to a dynamic positioning model test control method based on wind flow feedforward. The position of a ship is measured by a position measuring system; the position information issent to a filter, the filter estimates a low-frequency position x and a low-frequency speed v of the ship, the information is further sent to a central PID controller, and the PID controller calculates the required control force tau, estimates the wind power and the flow force borne by the ship at the moment according to the overwater and underwater projection areas of the ship at the heading angle, and adds the wind power and the flow force into the control force tau in advance: tau = kp * x + kd * v + ki * summing xdt + F wind feedforward + F flow feedforward. The ship can generate approximate thrust to resist external environment loads without deviation in advance due to the fact that feed-forward force is added, and thus high-precision positioning of the ship can be guaranteed. The airflow feedforward mode is adopted so that the positioning precision of the dynamic positioning model test is remarkably improved, and measured data can provide important reference for the design of anactual dynamic positioning system.

    本发明涉及一种基于风流前馈的动力定位模型试验控制方法,由位置测量系统测量得到船舶的位置,该位置信息发送到滤波器中,由滤波器估算出船舶的低频位置x和低频速度v,此信息进一步发送到中心PID控制器,PID控制器计算出所需的控制力τ,依据船舶在该艏向角下的水上和水下投影面积,估算出船舶此时所受的风力和流力,提前将其加入到控制力τ中:τ=k*x+k*v+k*∫xdt+F+F。本发明由于有前馈力的加入,使得船舶不需要先有偏移,就能产生大致的推力抵抗外界环境载荷,从而能保证船舶高精度的定位。采用风流前馈的方式,显著提高动力定位模型试验的定位精度,使测量得到的数据能对实际动力定位系统的设计提供重要参考。


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    Titel :

    Dynamic positioning model test control method and system based on wind flow feedforward


    Weitere Titelangaben:

    基于风流前馈的动力定位模型试验控制方法及系统


    Beteiligte:
    WANG LEI (Autor:in) / HE HUACHENG (Autor:in) / HAN SEN (Autor:in) / TANG ZIYING (Autor:in)

    Erscheinungsdatum :

    2020-08-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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