Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland; College of Engineering, Peking University, Beijing, China.
Department of Mechanical Engineering, Aalto University, Espoo, Finland.
ISA Trans. 2019 Dec;95:185-193. doi: 10.1016/j.isatra.2019.04.030. Epub 2019 May 16.
Towing is a critical process to deploy a cylindrical drilling platform. However, the towing process faces a great variety of risks from a complex nautical environment, the dynamics in towing and maneuvering, to unexpected events. Therefore, safely navigating the towing system following a planned route to a target sea area is essential. To tackle the time-varying disturbances induced by wind, current and system parametric uncertainties, a path following control method for a towing system of cylindrical drilling platform is designed based on linear active disturbance rejection control. By utilizing Maneuvering Modeling Group model as well as a catenary model, we develop a three degree-of-freedom dynamic mathematical model of the towing system under external environmental disturbances and internal uncertainties. Furthermore, we design a linear active disturbance rejection control path following controller for real-time tracking error correction based on a guidance method combining cross-track error and parallax. Finally, the path following performance of the towing system is evaluated in a simulation environment under various disturbances and internal uncertainties, where the corresponding tracking error is analyzed. The results show that the linear active disturbance rejection control performs well under both the external disturbance and inherent uncertainties, and better satisfy the tracking performance criteria than a traditional proportional-integral-derivative controller.
拖航是部署圆柱钻井平台的关键过程。然而，拖航过程面临着来自复杂航海环境、拖航和操纵动力学以及意外事件的各种风险。因此，按照计划路线安全导航拖航系统到目标海域至关重要。为了应对风、流和系统参数不确定性引起的时变干扰，基于线性主动干扰抑制控制，设计了圆柱钻井平台拖航系统的路径跟踪控制方法。利用操纵建模组模型和悬链线模型，我们建立了外部环境干扰和内部不确定性下的拖航系统三自由度动力学数学模型。此外，我们设计了一种基于结合横向误差和视差的制导方法的线性主动干扰抑制路径跟踪控制器，用于实时跟踪误差修正。最后，在各种干扰和内部不确定性下的仿真环境中评估了拖航系统的路径跟踪性能，并分析了相应的跟踪误差。结果表明，线性主动干扰抑制控制在外部干扰和固有不确定性下表现良好，并且比传统的比例积分微分控制器更好地满足跟踪性能标准。
