摘要
以"981"深海半潜式钻井平台为研究对象,根据国际海事组织和各大船级社对动力定位系统的安全规范要求,进行了DP-3级动力定位控制系统的总体方案设计。首先详细阐述了动力定位控制系统的硬件组成和结构及软件功能和层次,然后给出了平台的低频运动方程及基于模型预测的控制算法和控制器的具体设计方案及参数设置方法。最后建立了半实物仿真系统,进行了平台的作业工况和待机工况的动态模拟,通过仿真实验调试和验证了系统的硬件设备和软件方法。
ternational According to the safety specification requirement for deepsea dynamic positioning system assigned by the In- Maritime Organization and classification societies, taking the ＂981＂ deepsea semi-submersible drilling rig as the study object,the overall scheme of the DP-3 dynamic positioning control system was designed and developed. At first, the hardware composition and structure as well as the software function and hierarchy are described in detail. And then,the low-frequency dynamic equation of the rig is established. The model prediction based control algorithm,the detail design scheme of the controller and relevant parameter configuration method are given. A semi physical simula- tion system was established, and the dynamic simulations of the rig under standby condition and working condition were performed. The hardware equipment and software method are debugged and verified by the simulation tests.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第6期1279-1284,共6页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金项目(61100006
51209050)
黑龙江省自然科学基金项目(F201129)
哈尔滨市青年科学基金项目(2009RFQXG215)
水下智能机器人技术国防科技重点实验室开放课题研究基金项目(2010004)资助
关键词
动力定位
控制系统体系结构
半实物仿真
深海钻井平台
动态模拟
dynamic positioning
control system framework
semi physical simulation
deepsea drilling rig
dynamic simulation
