船舶动力定位UDE鲁棒控制及推力分配优化策略研究

船舶动力定位系统是海上作业的重要支持系统。本项目以提高船舶动力定位系统性能为目标，在前期研究基础上，对动力定位控制策略与推力分配进行基础科学研究。首先，建立含有不确定性与扰动的动力定位系统数学模型，应用不确定与扰动估计器(Uncertainty and Disturbance Estimator,UDE)，估计出动力定位船舶的不确定性与海洋环境扰动，获得船舶动力定位的鲁棒控制策略。其次，建立具有复杂约束的推力分配目标函数，研究粒子群-人工蜂群混合算法的改进搜索策略与自适应搜索策略切换方法，给出求解动力定位具有复杂约束条件的高性能推力分配策略。最后，将动力定位鲁棒控制和推力分配策略相结合，揭示出海洋环境等扰动与不确定性对控制策略/推力分配策略的影响机理，为修正控制策略与推力分配策略提供依据。项目研究成果，可提高动力定位的精度与稳定性，降低能耗，促进先进控制理论、计算智能与船舶工程的交叉研究。

Marine dynamic positioning system (DPS) is an important supporting system in offshore operation. Based on the previous work, this project focuses on the high-level control strategy and thrust allocation (TA) in DPS in order to enhance the performance of DPS. Firstly, the DPS mathematical model including the uncertainty and disturbance is established. The uncertainty and disturbance estimator (UDE) is employed to estimate the uncertainty and ocean disturbance. The UDE-based robust control strategy for DPS is obtained. Secondly, the TA objective function with complex constraint is established. The improved searching mechanism and adaptive searching mechanism design method for hybrid particle swarm optimization-artificial bee colony (PSO-ABC) are explored. The high efficient adaptive hybrid intelligent PSO-ABC algorithm for TA with complex constrained conditions in DPS is presented. Finally, the DPS high-level robust control and TA strategy are combined; the influence mechanism between uncertainty/ocean disturbance and robust control/TA strategy is obtained. The influence mechanism can serve as revision recommendation for the improvement of UDE-robust control and TA strategy. The research output of this project will improve the control performance and energy reduction of DPS. In addition, the interdisciplinary research among advanced control theory, computational intelligence and ship engineering are further promoted.