摘要
基于分离型建模的思想,建立了含有风、浪、流以及高架索索道产生的干扰力和力矩的补给船水平面三自由度操纵运动数学模型,并推导得到补给船低频运动状态空间模型。针对补给船在补给作业过程中的特点,采用多变量系统的广义预测控制方法对补给船的船位进行控制,利用其预测模型的提前预测功能,在补给船实际船位与期望船位的偏差产生之前就进行校正,使补给船与接收船保持一定的补给距离,确保补给作业安全顺利地进行。
Replenishment at sea is regarded as a very important part of naval logistics, and navy around the world has paid more and more attention to underway replenishment at sea. Based on the separated modeling method, a 3-d mathematical model ship of maneuvering motion which contains disturbing force model of replenishment ship motions has been established, and the mathematical model of supply instruments for highline constant tension system has also been established. Based on the maneuvering motion model of replenishment ship, the low-frequency motion model is given, and then predictive model, which is required in the generalized predictive control, is derived. A MGPC （Multivariable Generalized Predictive Control） algorithm for replenishment ship position control is presented. The results show that the MGPC control system designed in this paper is available to control both the supply and receive ship and to keep the distance between them, and can ensure the replenishment accomplished safely and smoothly.
出处
《中国造船》
EI
CSCD
北大核心
2012年第2期62-72,共11页
Shipbuilding of China
关键词
船舶、舰船工程
补给船
多变量广义预测控制
船位控制
ship engineering
replenishment ship
multivariable generalized predictive control （MGPC）
ship position control i
