基于非线性模型预测的船舶动力定位控制器设计

摘要

针对船舶具有推力及力矩存在约束的特点,探究了基于非线性模型预测控制的船舶动力定位控制器.建立了水面3自由度非线性动力定位船舶模型,根据设计控制器需要简化模型.在设计控制器过程中,结合李导数以及相关度的概念,利用非线性模型预测控制技术的预测模型、滚动优化和反馈校正3个特点进行控制器的设计,并判断控制规律是正定的.根据某供给船模型的相关参数,通过仿真验证了非线性模型预测控制器在船舶动力定位上的应用是有效的.%The research paper explored the application of nonlinear model predictive control to dynamic positioning control system of surface vessels, seeking to overcome constraints between thrust and torque. Firstly, the study examined the nonlinear vessel model of Three Degrees of Freedom (3-DOF) surface dynamic positioning and based on the demand, designed the controller simplified model. Secondly, in the process of designing controller,'by combining the concepts of lie derivative and the relative degree, authors was able to design the controller based on the three characteristics of nonlinear model predictive control technology-predictive model, rolling optimization and feedback correction, and judge the control law to be positive definite. The final results of the simulation on relevant parameters of a supply vessel indicate that the application of nonlinear model predictive control to dynamic positioning of surface vessels was an effective study.