变吃水船舶动力定位控制策略

摘要

针对船舶动力定位变吃水的问题,利用自适应PID能够实时进行参数校正的特点,设计一种自校正PID控制器.利用船舶模型试验相关数据建立被控对象的数学模型.引入改进的最小二乘估计算法进行系统辨识,并通过极点配置法计算控制器参数;最后针对具体船型进行仿真和分析.仿真结果显示,当船舶数学模型发生改变时,自校正PID控制系统能够实时估计模型的参数并进行调整,使系统保持稳定.%Aimed the draft change of ship dynamic positioning,we designed a self-tuning PID controller which used an adaptive PID parameter correction in a timely manner.Set up mathematical model of the controlled object using ship model test data,then use improved least squares estimation control algorithm for system identification,and calculation of controller parameters through the pole placement method.Finally,simulation and analysis according to the specific ship.The simulation results shows,when the mathematical model of the ship changed,self-tuning PID control system able to estimate the parameters of the model in real time and adjustment,make the system remains stable.