随着深海技术的不断发展，动力定位系统的在海洋工程上得到广泛应用。动力定位系统通过其控制系统驱动船舶推进器来抵消风、浪、流等作用于船上的环境外力，从而使船舶保持在确定的位置上或沿预期的航迹航行。本文在分析了国际海事组织和国际海洋工程承包商协会对动力定位系统定义及分级要求的基础上，阐述了国外船舶动力定位系统的发展及其应用状况，分析了动力定位系统的组成和工作原理，研究了动力定位系统的各种约束、控制策略、控制技术、推力分配等关键技术，指出动力定位系统精度取决于控制系统和测量系统性能，并提出了发展国产动力定位系统应采用的途径。

With the developments of deep-sea technologies, the dynamic positioning system(DPS) has been widely applied in offshore project. The dynamically positioned system of a vessel is designed to accurately maintain the vessel’s position and heading at a fixed location or a predetermined track for marine operation purposes by exclusively using active thrusters. In this paper, the development and application of the dynamic positioning(DP) system were investigated. The principle how the DP works was analyzed. The typical configurations of the foreign famous DPS were studied. The system restrictions, control strategy, control technology,and thrust allocation of DP were analyzed. It was pointed that the accuracy of dynamic positioning system depends on dynamic positioning control and measurement equipment. Based on the researches above, an approach to develop our own dynamic positioning system was presented.

时域仿真分析是获得动力定位控制精度的必要手段。文中进行了SIMO软件理论和应用方面的研究,基于SIMO软件建立动力定位能力时域仿真分析流程;以深水钻井船为算例,通过动力定位系统控制参数和Kalman增益参数的调整,获得较好的计算结果,并进一步分析了控制参数的不同取值对动力定位能力的影响。文中建立的深水钻井船动力定位能力仿真分析流程可以为工程实践提供参考。

Time domain simulation analysis of DP is necessary to obtain the control of the dynamic positioning accuracy. This paper carries out the investigation of the theory and application of SIMO software, and performs the time domain simulation analysis of the dynamic positioning by SIMO. Taking a deepwater drillship as an example, the better calculation results can be obtained by the adjustment of DP control parameter and Kalman gain parameter in order to analyze the influence of the different control the parameters of dynamic positioning. The simulation analysis the process of DP for deepwater drillships which is built up in this paper can provide references for practical application.

针对一个动力定位系统定位的深水半潜式钻井平台,建立了动力定位系统数值模拟模型,运用了PID控制理论、低通滤波器以及推进器分配方程对动力定位系统进行了仿真。同时,在哈尔滨工程大学深水水池中对该半潜式钻井平台进行了动力定位能力模型试验,试验采用1:50缩尺比模型,加载了推力器模拟系统,利用自主研发的界面控制程序与瑞典的位移测量系统研究模型在不同情况下的动力定位能力。对数值模拟与模型试验结果进行分析,给出了平台在完整工况与推进器部分失效状况时的运动响应与动力定位能力,环境载荷考虑了静水情况与不同风浪流载荷情况,将数值模拟计算结果与试验结果进行了对比。试验结果与计算结果均表明该平台定位能力满足要求。数值模型与试验模型切实可行,可用于动力定位系统的初步设计与仿真模拟。1

This paper creates an adaptable numerical model with control theory of PID and equations of low pass filter and thrusters allocation. Model test of the semisubmersible platform with dynamic position system is presented. The model is equipped with thruster simulation system, control program and motion capture system. Both experiment and calculation are used to analyze motion response of the platform with dynamic position system in intact and thruster failure conditions. The results show that the platform satisfies the requirements of rules and both the numerical model and model test are available to the analysis of DPS in time domain.

本文简述了动力定位系统(DP-2)的基本组成和工作原理,着重分析了本型船舶的特色装备——高精度水声定位系统(HIPAP)及其辅助系统声速剖面修正系统(svp)在动力定位中的应用及试验方案。

This article briefly introduces how the dynamic positioning system(Class 2) works and its system components. The analysis of the article stresses the application and experiment scheme of HIPAP and its auxiliary system---SVP on DP system, which is the special equipment of this ship type.

动力定位性能研究是万马力级深水三用工作船自主研发这一国家工信部和财政部联合下达的配套研究课题之一。根据万马力级深水三用工作船的功能和特点，对其DP作业环境条件进行研究界定，结合该船的动力配置，着重分析和研究在不同作业工况下的动力定位能力。研究结果解决了该船在我国深水海域进行动力定位作业的关键技术。

Research on the dynamic positioning (DP) capability of twenty thousand class horsepower deepwater AHTS is one of the supporting research topics issued jointly by the Ministry of industry and information technology and the Ministry of finance. According to the functions and features of the twenty thousand class horsepower deepwater AHTS, this study defines its DP system operation environmental conditions, and emphasizes the analysis and study of the DP capability under different operation conditions based on the vessel’s power configuration. This research offers a solution to the key technologies concerning the AHTS operation in domestic deepwater regions.