文献类型：期刊文献

中文题名：UKF-PID模式下动力定位海洋平台-立管系统的动力学分析

英文题名：Dynamic response of DP offshore platform-riser multi-body system based on UKF-PID control

作者：张大朋[1,2];白勇[1];朱克强[3]

机构：[1]浙江大学建工学院,杭州310058;[2]广东海洋大学海洋工程学院,湛江524005;[3]宁波大学海运学院,宁波315211

年份：2022

卷号：39

期号：2

起止页码：312

中文期刊名：应用力学学报

外文期刊名：Chinese Journal of Applied Mechanics

收录：SCI-EXPANDED(收录号：WOS:000882292000001)、CSTPCD、、CSCD2021_2022、Scopus(收录号：2-s2.0-85141872290)、WOS、北大核心、CSCD、北大核心2020

基金：This research was funded by the Program for Scientific Research Start-up Funds of Guangdong Ocean University, grant number 060302072101, and Zhanjiang Marine Youth Talent Project-Comparative Study and Optimization of Horizontal Lifting of Subsea Pipeline, grant number 2021E5011.

语种：中文

中文关键词：动力学响应;海洋平台-立管;Python;无迹卡尔曼滤波;OrcaFlex;凝集质量法

外文关键词：dynamic response;offshore platform-riser;Python;unscented Kalman filter;OrcaFlex;lumped mass method

中文摘要：在强外界载荷下,在海洋平台-立管多体系统中的海洋平台和立管间的相互耦合作用会加强。从而导致整个系统的非线性增强。考虑到动力定位海洋平台-立管多体系统的强非线性,结合真实的海上施工工程背景和凝集质量法,基于Python镶嵌编程和OrcaFlexAPI模块的组成以及运用规则,对OrcaFlex进行了局部的二次开发,建立了一种基于无迹卡尔曼滤波的UKF-PID控制的动力定位平台-立管多体耦合系统。最终建立了无迹卡尔曼滤波模式下PID控制的动力定位海洋平台-立管刚柔多体模型,并对该模型在特定海洋环境下进行了动态仿真。计算结果对于具体工程实践有着一定的指导意义。

外文摘要：Under strong external loads,the intercoupling effect between the offshore platform and the riser in the offshore platform-riser multi-body system will be significantly enhanced.This leads to the non-linearity enhancement of the whole system.With the consideration of the strong non-linearity of the dynamic positioning(DP)offshore platform-riser multi-body system,combined with the actual offshore construction engineering background and the lumped mass method,based on Python Language embedded programming,with the basis of the operation principle of OrcaFlex API and the composition of its modules,the partial secondary development of OrcaFlex is carried out,and a UKF-PID control method based on Unscented Kalman filter is proposed to realize the control of the dynamic positioning offshore platform-riser multi-body coupling system.Finally,the model of PID-controlled dynamic positioning offshore platform-riser rigid-flexible multi-body system under unscented Kalman filter mode is established and the dynamic simulation is carried out under specific marine environment.The calculations obtained have certain guiding significance for specific engineering practice.