7500 t海上浮吊动力定位系统设计

以“蓝鲸”号7 500 t海上浮吊为研究对象,对浮吊船体的高低频运动及环境载荷进行数学建模,并考虑浮吊在作业时,导致其水平面运动与普通船舶有较大不同的吊重回转惯性力,分析浮吊在复杂海况下的动态响应.采用将吊重回转惯性力和动力定位系统相结合的方法,设计基于Kalman滤波的Mamdani模糊推理法的7 500 t浮吊动力定位系统,并进行了浮吊作业区域保持仿真实验,为今后巨型浮吊动力定位系统的研制提供了一些参考依据.

Dynamic positioning system design for 7 500 t floating cranes

Pertaining to the 7 500 t ＇Blue Whale＇ floating crane, a mathematical model of high-and lowfrequency motional and environmental loadings is established for floating crane ships. Compared with traditional ships, the horizontal motions of floating cranes, which are resulted from the rotary-loading inertial forces, are quite different. By analyzing the dynamic responses to floating cranes under complicated sea conditions, an approach integrating the rotary-loading inertial force with dynamic positioning system is proposed based on the Kalman filtering and Mamdani fuzzy inference methods. Furthermore,a simulation experiment is applied to keep the floating crane in the working area. Therein, this approach sets a reference to future research and manufacturing on the dynamic positioning system of giant-scale floating cranes.