基于LQG算法和复合形法的深水铺管船动力定位数值模拟

基于线性二次高斯算法和复合形法开发一套动力定位数值模拟程序。针对某深水铺管船，用该程序与Simo软件进行模拟对比，结果吻合较好，验证了程序的准确性。利用该程序对深水铺管船进行铺管作业动力定位时域模拟，分析运动轨迹、推进器推力和转角、海管受力等响应特性，结果表明该程序可以合理预报动力定位铺管作业响应。

Numerical Simulation of Dynamic Positioning of Deep-Sea Pipe-Laying Vessel Based on LQG Algorithm and Complex Method

One code for dynamic positioning (DP) simulation is developed using the linear quadratic Gaussian algorithm and complex method. Comparison is carried out between the numerical results predicted using this code and Simo software for one deep-sea pipe-laying vessel. Fair well agreement is reached, which verifies the accuracy and applicability of the code. Using the code, the DP responses in time domain for this vessel in pipe-laying operation mode are simulated. The plane trajectory, forces and angles of propellers, and tension force of the pipe of this ship are analyzed. The results show that this code has the potential to reasonable predict DP responses for pipe-laying operation.