|
Around the ship to the the rotatory motion control dynamic positioning technology . It is generated by the control board auxiliary thruster thrust to compensate for the external force of the wind flow to the surface vessels around a given point in a given radius and slew rate rotation . In this paper, the existing model of ship motion , the installation of bow , stern side thruster and stern main thrust as the implementing agency ; using modular thinking outside interference model , the executing agency model . In accordance with the content of the given point position and the radius of gyration , this paper is divided into five situations : Ship point to rotate around the outside of the ship , namely: a given point outside the hull , at the same time you want to specify the radius of gyration . Rotates, the bow should always correspond to a given point , the boat keep the center on the arc , and the rate of rotation of the rotary approximate constant . The ship around the bow point of rotation, i.e. : for the bow point to a point when the radius has been determined , that is, the bow point to the center of a ship rotational rate of revolutions in order to approximate a constant value , the center remains in the arc . Around the ship stern point of rotation, i.e. : a given point of the stern , when the radius is uniquely identified , namely the stern point to the center of a ship , in order to approximate a constant rotation rate of rotation , on the centers of the circular arc . Ship around the side of the ship center of rotation , namely: a given point in the ship's side center , radius uniquely determined for Breadth half , nearly constant rotation rate of rotation , keep the center arc . Around the ship to ship the geometric center of rotation, i.e. : a given point as the geometric center of the boat , the radius is zero , in order to approximate the constant slew rate of rotation , the center is maintained at a given point on . Gave the papers for each of the equations of motion analysis and derivation , select the input of the controller is given on the basis of this . This design PID and fuzzy controller for the control simulation, simulation results concluded two control modes : the interference of outside wind and stream , to ensure that surface vessels around a given point in a given radius and slew rate rotation , and accuracy are ideal . Studied in this paper , in the country, rarely see this content and approach only as the author 's attempt , the controller algorithm for common PID and fuzzy control , depth to be a foundation for the future .
|