动力定位采矿船高海情下的运动响应分析

本文对具有动力定位深海采矿船高海情下的运动响应及运动特性开展研究。针对具有 6 个推进器构成的动力定位系统，考虑高海情及空载和满载两种典型工况，基于推力最小和运动最小条件，应用卡尔曼滤波器结合线性二次型最优控制理论的控制算法优化推力，进行动力定位系统的参数整定，实时优化调整推力的方向和大小，计算采矿船高海情下的运动和推力的时间历程响应和分析运动特性。经计算，得到了深海采矿船空载和满载工况在高海情下实施海上定位的浪向及需要的推力大小，确定了采矿船动力定位系统在高海情下的适应性，评估了高海情下深海采矿船的定位能力。

英文摘要:

The motion response of deep sea mining vessel with DP is studied and its motion response behaviors are analyzed in high sea condition. For the dynamic positioning system composed of six side propellers, considering the high sea condition and two typical operational conditions of load full and ballast, the control parameters of the side thrust system are adjusted, the thrust force is optimized and direction of thrust is adjusted in the real time based on the conditions of minimum thrust and minimum motion, as well as the control algorithm of Kalman filter and linear quadratic optimal theory is applied, the time history response of motion and thrust for mining vessel in high sea condition are calculated and the motion characteristics are studied. The research results show that, the wave incidence angle and thrust size that can position in high sea condition are obtained for load full and ballast of deep sea mining vessel, the adaptability of the dynamic positioning system of mining vessel is determined in high sea condition, the positioning ability of the mining vessel is evaluated reasonably in high sea condition.

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