Research on Dynamic Positioning System for Floating Structure

这项研究是由一个推力辅助的mooring系统和一个用于浮动平台的动态定位系统组成的。（1）在thruster辅助的mooring系统中， moorings被用来维持相对于quasi的平台的位置--恒定的外部力量被当前和风所诱导。控制的目的将抑制缓慢的漂移，因此不受干扰的波浪的漂移力使用攻击者，所以他们不能响应波浪频率范围内的线性激发力。该问题是在Himi D2控制的框架中形成的，并在Matlab上使用MMI控制工具箱解决的。模型实验中的模糊事件波被带走了，成功的结果也被发现了。（2） A dynamic position system using thrusters is generally employed for controlling a position of a floating platform at the deep sea area because it is differential to use mooring system。拟议的控制器的规格是，它保持一个给定的位置，并在没有使用偏移量的情况下改变它的位置，而不能对波频范围内的线性激发力作出反应。基于Yaw的旋转矩阵，一个带有四个部分的线性数学模型被介绍。这个问题是在一个基于多模型的设计框架中形成的，带有极区域约束的H-D2控制法。模型实验是成功的，结果也是成功的。

The research is concerned with a thruster assisted mooring system and dynamic positioning system for a floating platform.(1) In the thruster assisted mooring system, moorings are used to maintain the position of the platform against quasi-constant external forces induced by current and wind. The control purpose is to suppress the slow drift oscillation due to drifting force in irregular wanes using thrusters so they do not respond the linear exciting force in the wave frequency range. The problem was formulated in a framework of HィイD2∞ィエD2 control, and was solved using the LMI control toolbox on Matlab. Model experiments in oblique incident waves were carried out and successful results were obtained.(2) A dynamic positioning system using thrusters is generally employed for controlling a position of a floating platform at the deep sea area because it is difficult to use mooring system. The specification of the proposed controller are that it maintain a given position and to change its position without offset using thrusters that do not respond to the linear exciting force in the wave frequency range. Based on a rotation matrix in yaw, a linear mathematical model with four vertices was introduced. The problem was formulated in a framework of multi-model based design of HィイD2∞ィエD2 control law with pole region constraint. Model experiments were carried out and the results were successful.