为了自主研发功能完备、扩展性好的船舶动力定位模拟器，分析船舶动力定位模拟器中各个模块的功能，对现有航海模拟器的系统架构进行改进，提出适用于多单元协同仿真的船舶动力定位模拟器系统架构。根据动力定位系统自动定位模式的原理，设计动力定位控制器和推力分配算法，提出使用 Direct2D 图形技术来设计动力定位人机交互界面。最后在所设计的动力定位模拟器系统架构下，以 1 艘动力定位供给船为仿真对象实现在不同海况条件下的自动定位功能和系统信息显示，并验证算法的有效性。
In order to develop the full-featured dynamic positioning simulator with good extensibility, the function of each module of DP system is analyzed. System architecture is designed and improved based on the existing navigation simulator. According to the principle of auto position mode, DP controller and thruster allocation algorithm are designed. Human-machine interface module is developed by using Direct2D graphics technology. Under the architecture of DP simulator, the simulation experiments verify the effectiveness of the proposed algorithm, which can simulate Auto Position and system information display.
2016,38(7): 39-43 收稿日期：2015-12-28
DOI：10.3404/j.issn.1672-7619.2016.07.009
分类号：U674.38
基金项目：863课题资助项目（2015AA016404）；海洋公益性行业科研专项资助项目（201505017-4）；中央高校基本科研业务费专项资金资助项目（No.313204330）
作者简介：钱小斌(1989-),男,博士研究生,研究方向为交通信息工程与控制、航海仿真、虚拟现实技术。
参考文献：
[1] 边信黔, 付明玉, 王元慧. 船舶动力定位[M]. 北京:科学出版社, 2011:331-338.
[2] Nautical Institute. Dynamic positioning operator's training and certification scheme[M]. UK:Nautical Institute, 2014.
[3] IMCA. Guidance on the use of simulators[M]. UK:IMCA, 2012.
[4] 尹勇, 金一丞. 航海模拟器与分布交互仿真技术[J]. 计算机仿真, 2000, 17(6):66-68, 61. YIN Yong, JIN Yi-cheng. Marine simulator and distributed interactive simulation technology[J]. Computer Simulation, 2000, 17(6):66-68, 61.
[5] 郝爽爽. 航海模拟器数据通信的优化设计与实现[D]. 大连:大连海事大学, 2013.
[6] BALCHEN J G, JENSSEN N A, SÆLID S. Dynamic positioning using Kalman filtering and optimal control theory[C]//IFAC/IFIP Symposium on Automation in Offshore Oil Field Operation. Bergen:Pergamon Press, Inc., 1976:183-186.
[7] SAELID S, JENSSEN N A, BALCHEN J. Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control[J]. IEEE Transactions on Automatic Control, 1983, 28(3):331-339.
[8] FUNG P, GRIMBLE M. Dynamic ship positioning using a self-tuning Kalman filter[J]. IEEE Transaction on Automatic Control, 1983, 28(3):339-350.
[9] 徐荣华. 船舶动力定位系统建模与随机控制研究[D]. 广州:广东工业大学, 2011.
[10] 吴楠, 陈红卫. 船舶动力定位仿真系统设计[J]. 舰船科学技术, 2013, 35(5):103-106, 110. WU Nan, CHEN Hong-wei. Simulation design on dynamic positioning system of vessels[J]. Ship Science and Technology, 2013, 35(5):103-106, 110.
[11] 施吉伟. 船舶动力定位系统控制器设计及其操控界面开发[D]. 大连:大连海事大学, 2014.
[12] 刘学军, 吴德烽, 杨国豪, 等. 面向船舶动力定位模拟器的推力分配仿真子系统开发[J]. 船舶工程, 2014, 36(4):96-100. LIU Xue-jun, WU De-feng, YANG Guo-hao, et al. Development of thruster allocation simulation system for ship dynamic positioning simulator[J]. Ship Engineering, 2014, 36(4):96-100.
[13] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. London:UK:Wiley, 2011:199-213.
[14] ISHERWOOD R M. Wind resistance of merchant ships[M]. England:Royal Institution of Naval Architects, 1972, 115:327-338.
[15] 张秀凤, 尹勇, 金一丞. 规则波中船舶运动六自由度数学模型[J]. 交通运输工程学报, 2007, 7(3):40-43. ZHANG Xiu-feng, YIN Yong, JIN Yi-Cheng. Ship motion mathematical model with six degrees of freedom in regular wave[J]. Journal of Traffic and Transportation Engineering, 2007, 7(3):40-43.
[16] DAIDOLA J C, GRAHAM D A, CHANDRASH L. A simulation program for vessel's maneuvering at slow speeds[C]//Proceedings of 11th Ship Technology and Research Symposium. Portland, OR:Society of Naval Architects, 1986.
[17] 朱熀秋, 黄振跃, 阮颖, 等. 交流主动磁轴承电主轴线性二次型最优控制[J]. 电机与控制学报, 2012, 16(10):71-78, 94. ZHU Huang-qiu, HUANG Zhen-yue, RUAN Ying, et al. Linear quadratic optimal control of electric spindle supported by AC active magnetic bearings[J]. Electric Machines and Control, 2012, 16(10):71-78.
[18] 袁伟, 俞孟蕻, 朱艳. 动力定位系统舵桨组合推力分配研究[J]. 船舶力学, 2015, 19(4):397-404. YUAN Wei, YU Meng-hong, ZHU Yan. Research on thrust allocation of dynamic positioning vessels with propeller-rudder pairs[J]. Journal of Ship Mechanics, 2015, 19(4):397-404.
[19] FOSSEN T I, SAGATUN S I, SØRENSEN A J. Identification of dynamically positioned ships[J]. Control Engineering Practice, 1996, 4(3):369-376.
