用于钻井船在海面定位的线性MIMO控制器的开关结构

2010 15th International Conference on Methods and Models in Automation and Robotics Pub Date : 2010-09-27 DOI:10.1109/MMAR.2010.5587228

S. Banka, M. Brasel, P. Dworak, K. Latawiec

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引用次数: 11

摘要

本文提出了一种基于多控制器的可切换控制系统结构来控制非线性多输入多输出对象。所考虑的结构包含一组线性反馈控制器与控制系统的附加静态解耦回路一起工作。将钻井船在海面上三自由度运动的非线性模型作为多输入多输出控制对象进行控制。系统综合是通过对所采用的非线性植物模型在其标称“工作点”上的线性化来进行的，这些工作点取决于预设的船舶偏航角和海流速度。以WIMPEY SEALAB钻井船的低频运动非线性模型为例，在MATLAB/Simulink中对控制系统的性能进行了仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

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2010 15th International Conference on Methods and Models in Automation and Robotics

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