Research On Filtering Method For The Wave Of Dynamic Positioning Ships

With the development of the international economy,countries are strengthening the possession of resources,facing the vast sea,people in large sigh,but stepping up the development and utilization of the ocean,from the land development to the resources in the ocean in the competition,the South China Sea and other social concerns are increasing from the science and technology advanced enough for its development and utilization can not immediately triggered a series of international issues.Dynamic positioning technology is a stepping-stone to success of human development and utilization of ocean,if you can not let the ship stable navigation in the deep sea,how to further the development of marine resources,the dynamic positioning technique is developing hot,one of the key technologies to be solved is how to in the complex ocean environment,wind,waves,steady flow disturbances.As one of the key technologies of the dynamic positioning of the ship,the filter is very important,so the improvement of the precision and adaptability of the filter is an important problem to be studied.First of all,the paper introduces the three degrees of freedom ship motion model,environmental force model,high frequency motion model and measurement model.Then design a common nonlinear filter,prove its stability,and the simulation model according to the ship in front of the establishment and verification of filter effect;in the design of this filter to find out on the basis of the original precision with augmented matrix nonlinear filter higher and the lack of design is improved.The simulation shows that this filter effect in the ship model under the same.Secondly,in order to solve the adaptive observer,unable to adapt to the time-varying sea waves,proposes the dominant frequency estimator,the observer in the waves do not know the dominant frequency information,can estimate the dominant frequency,then according to the estimated parameters of the dominant frequency make the corresponding adjustment,the nonlinear observer can automatically adapt to different frequency model the enhanced adaptive filter.Finally,the wave filter needs to be applied in the controller to verify the filtering effect.The filter is of practical significance is not alone,this will eventually be the classic PID control combined with wave filtering design,the sliding mode control to complete fixed positioning control simulation,the actual test is able to complete the fixed combination filter controller for dynamic positioning ship positioning system positioning...