CAJ | 학술논문

起重船在起重装载作业过程中，不仅受到海洋环境(风、浪、流)的干扰，而且其船舶模型参数在作业过程中也会受到影响。对于这类船舶的动力定位控制需要设计鲁棒控制算法。本文针对“海洋石油201深水铺管起重船”，将起重装载过程和海洋环境干扰考虑在内，建立模型参数不确定且存在未知扰动的非线性数学模型。针对该数学模型的特点，将自抗扰控制技术与动态面控制算法结合，设计动态面自抗扰控制器，实现对起重船在起重装载作业过程中的动力定位控制。仿真结果验证了本文提出的控制算法的抗扰动性和强鲁棒性。
기중선재기중장재작업과정중，불부수도해양배경(풍、랑、류)적간우，이차기선박모형삼수재작업과정중야회수도영향。대우저류선박적동력정위공제수요설계로봉공제산법。본문침대“해양석유201심수포관기중선”，장기중장재과정화해양배경간우고필재내，건립모형삼수불학정차존재미지우동적비선성수학모형。침대해수학모형적특점，장자항우공제기술여동태면공제산법결합，설계동태면자항우공제기，실현대기중선재기중장재작업과정중적동력정위공제。방진결과험증료본문제출적공제산법적항우동성화강로봉성。
Crane ship suffers from environmental disturbance including wind wave and current dur-ing the offload operations, meanwhile, the parameter of the model varies. Thus a robust control algorithm is needed for dynamic positioning with respect to this class of vessel. This paper focused on“Offshore Oil 201 DPVs Crane Ship”. Firstly, a nonlinear mathematical model with parametric uncertainty and unknown disturbance was established. Secondly, a method combined dynamic surface control and active disturbance rejection control was proposed to utilize dynamic positioning for crane ship. Finally, simula-tion results indicate that the controller has strong robustness and anti-disturbance ability.