应用自校正滤波器的动态船舶定位系统设计
The Application of Self-Tuning Filters in Design Dynamic Ship Positioning Control Systems
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摘要: 海洋石油钻探船或考察船的动态定位控制系统需要有消除波浪运动影响的滤波器.本文 提出了一个综合自校正滤波器和Kalman滤波器的方案以满足这一要求.用Kalman滤波器 处理低频运动,用自校正滤波器处理高频运动以修正低频估计值,因此只需进行不太多的计 算就可达到提高调节精度的目的.Abstract: The control systems for dynamically po itioned oil-rig drill ships and survey vessels should include filter to remove the wave motion influence. A combined self-tuning filter and Kalman filter scheme is proposed to satisfy this demand. The Kalman filter is used to treat low frequency motion, and the self-tuning filter is used to compensate the low frequency estimates in accordance with high frequency motion. Thus, the regulation accuracy can be improved without a heavy computational burden.
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