The invention relates to a dynamic positioning model test control method based on wave feedforward, which comprises the steps of obtaining the position of a ship through the measurement of a positionmeasurement system, transmitting the position information to a filter, and estimating the low-frequency position x and the low-frequency speed v of the ship through the filter; arranging a wave heightmeter at the gravity center position of the ship, monitoring the wave height in real time, estimating the average second-order wave force F wave borne by the ship at the moment according to a transfer function of the second-order wave force of the ship under the posture, and adding the average second-order wave force F wave into the needed control force [tau] in advance according to the followingformula: [tau]=kp*x+kd*v+ki*summaxdt+F, wherein kp, kd and ki are a proportionality coefficient, a differential coefficient and an integral coefficient of the PID controller respectively, and trepresents time. According to the invention, a wave feedforward mode is provided, the positioning precision of a dynamic positioning model test is significantly improved, and measured data can provide important reference for the design of an actual dynamic positioning system.

    本发明涉及一种基于波浪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;在船舶重心位置设置浪高仪,实时监测波高,依据船舶在该姿态下二阶波浪力的传递函数,估算出船舶此时所受的平均二阶波浪力F,提前将其加入到所需控制力τ中:τ=k*x+k*v+k*∫xdt+F;式中k、k和k分别为PID控制器的比例系数、微分系数和积分系数,t表示的是时间。本发明提供了波浪前馈的方式,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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    Title :

    Dynamic positioning model test control method and system based on wave feedforward


    Additional title:

    基于波浪前馈的动力定位模型试验控制方法及系统


    Contributors:
    WANG LEI (author) / HE HUACHENG (author) / TANG ZIYING (author) / HAN SEN (author)

    Publication date :

    2020-07-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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