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边敷边埋作业敷缆船路径控制方法研究

DOI: 10.3969/j.issn.1006-7043. 201112009

Keywords: 敷缆作业, 路径导引, 船舶控制, 动力定位, 悬链线方程, 犁式海缆埋设机

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Abstract:

动力定位敷缆船进行敷缆作业,通常采用边敷边埋的施工方法,因此在给定海缆敷设路径时,研究敷缆船路径导引策略及路径控制方法是必要的.建立了犁式海缆埋设机受力模型和敷缆船数学模型,通过拖链的悬链线方程给出了敷缆船的运动轨迹与埋设机海缆着地点的关系,提出了直线段和圆弧段的船舶路径导引策略,并基于backstepping方法,提出了带有埋设机作用力前馈补偿环节的非线性控制器.仿真结果表明,在环境干扰影响下,所研究的控制方法可以控制敷缆船将海缆准确地敷设在敷设给定路径上,且具有一定鲁棒性.

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