基于自抗扰控制半潜平台动力定位控制器设计

本文采用自抗扰控制技术,设计了半潜式平台动力定位控制器.跟踪微分器实现给了平台定位置的快速稳定跟踪;非线性扩张观测器能进行平台运动位置、速度和系统扰动的估计,通过非线性反馈控制对系统总扰动进行补偿,实现了平台定位的精确控制.经仿真实验验证：该控制器具有响应快、精度高、稳定性好,抗干扰能力强、鲁棒性强等优点.

Design of DP controller based on ADRC for semi-submersible platform

In order to cope with environmental and uncertain disturbance while platform is keeping its position for offshore operation process. A new dynamic positioning （DP） controller was designed based on the active disturbance rejection control （ADRC）. The estimation of platform speed and disturbances can be acquired through nonlinear expand state estimator, and the disturbances will be compensated by nonlinear feedback of the controller. The simulation results indicate the controller has advantages of high accuracy good stability strong anti-disturbance ability and robustness.