铺管船在波浪中时域运动与仿真控制

Simulation on Time-Domain Motion and Control of Pipe-Laying Vessel in Wave

摘要: 为了能够准确而有效的计算铺管船在波浪中的运动情况，本文基于船舶时域运动学方程，以Jonswap谱作为不规则波浪输入，并应用PID控制器和Kalman滤波器相结合的动力定位系统，对铺管船在波浪中的时域定位控制进行仿真模拟。通过对不同有义波高和不同谱峰周期下的铺管船时域运动的仿真结果进行分析发现，本文仿真模型能够对铺管船运动进行有效控制，但当谱峰周期过大时会影响铺管船纵荡运动的平衡位置，因此在实际作业中需着重注意。

Abstract: In order to make precise and effective calculation on the motion of pipe-laying vessel in waves, the time-domain simulation for dynamic positioning of pipe-laying vessel in waves is carried out based on the time-domain ship-motion equation. The Jonswap spectrum is used as the irregular wave input, and the dynamic positioning system integrates the PID controller and Kalman filter. Through analysis on the simulation results of the time-domain motion of the pipe-laying vessel under different significant wave heights and spectral peak periods, it is found that the model in this paper can effectively simulate control of the motion of the pipe-laying vessel. However, the equilibrium position of the surge motion of the pipe-laying vessel will be affected when the spectral peak period is too large. Therefore, special attention has to be paid on that in practical operations.