Research On Dynamic Positioning Control System For ROV Support Ship

It is requisite to employ the Dynamic Positioning System with fine performance in the work of maritime development,inshore engineering support,underwater work support,and so on,if the ship needs keeping fixed position or sailing along a desired track in the work. The dynamic positioning technique has been developed for more than 30 years and has formed a high scientific industry that promotes the corresponding scientific researches abroad. In our country,the development of the dynamic positioning technique in most researching units is still in the theoretical or experimental research stage. It is only the group to which the author belongs that has finished the first internal dynamic positioning system that makes the dynamic positioning technique from theory to practice. This paper is the theoretical summary of the development around the dynamic positioning system by the writer,which includes several aspects of the studies as follows,1. In allusion to the feature of zero-speed of the ship in positioning control process,the dynamic mathematics model of the ship's movement has been established,which fits to the Dynamic Positioning,and the mathematics model of the environment of sea and ocean which disturbs the ship in dynamic positioning,which has founded the base of further study.2. To meet the demands of establishing a practical control system,This paper analyzed the main sensors' construction,performance,and work theory in a dynamic positioning system,discussed the output format of the sensors' signals and the feature of the signals' noise,introduced the common thrusters,and established the thruster's mathematics model.3. In allusion to the calculating quantity of the dynamic positioning control system and the demand of real-time,the computer real-time system based on theMultibus II bus which fits to the dynamic positioning control system has been established,and the software of dynamic positioning control system has been developed which is based on the iRMX,a real-time and multitask operating system.4. An anti abnormal value Kalman filter arithmetic is produced,which enhances Kalman filter's practicability. In allusion to the feature of the DGPS's signal,an arithmetic that can adaptively eliminate abnormal value is introduced,which solves the problem of continually eliminating a few abnormal values when the model is not exact.5. According to the non-linear and time variant feature of the object under control in dynamic positioning system,a controller for dynamic positioning system is designed,and a strong robust self-learning fuzzy-sliding mode controller is produced,which enhanced the performance of the control system.6. The simulation test and practical test on the lake has been finished about the dynamic positioning control system concerned in this paper,which has been delivered to the consumer.This paper researches the basic components of ship's dynamic positioning system and the solution schemes of its control system,and provides a reference basis for the practicality of the dynamic positioning system. The realization of the ship's dynamic positioning system plays an important role for enhancing the development and popularization of our country's ship building industrial products and technology with high additional value.