摘要
动力定位敷缆船进行敷缆作业,通常采用边敷边埋的施工方法,因此在给定海缆敷设路径时,研究敷缆船路径导引策略及路径控制方法是必要的.建立了犁式海缆埋设机受力模型和敷缆船数学模型,通过拖链的悬链线方程给出了敷缆船的运动轨迹与埋设机海缆着地点的关系,提出了直线段和圆弧段的船舶路径导引策略,并基于backstepping方法,提出了带有埋设机作用力前馈补偿环节的非线性控制器.仿真结果表明,在环境干扰影响下,所研究的控制方法可以控制敷缆船将海缆准确地敷设在敷设给定路径上,且具有一定鲁棒性.
The purpose of this research is to accomplish the task of laying and burying new offshore cables successfully using control methods of dynamically positioning cable laying vessels. Given the offshore cable laying path, it is necessary to research the path guiding strategy and path control method for cable laying vessels. The force model of cable laying plough and the mathematical model of cable laying vessels are established. By establishing the eatenary equation of the towline, the relationship between the moving track of the cable laying vessels and the touchdown point of the burying machine cable is given, and the guiding strategy for linear and arc vessel paths is proposed, along with the nonlinear back-stepping controller with the burying machine Is acting force feed forward compensation as well. Simulation results show that, under the environmental disturbance, by the method proposed in this paper, the cable laying vessels may lay offshore cables accurately in a given path, with robustness.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第10期1254-1258,共5页
Journal of Harbin Engineering University
基金
国家高技术船舶科研基金资助项目(GJCB09001)
关键词
敷缆作业
路径导引
船舶控制
动力定位
悬链线方程
犁式海缆埋设机
cable laying
guidance system
path following control
dynamic positioning
catenary equation
cable plough
