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2002527[200030][200030]/[200030],,U661.30,(,)(DynamicPositioningSystem,DP)DP,,,:a)-;b)-;c)-60,DPPID,DP[1,2,3],,,,,,,,11.1,DP,:,(1),XEOYE,XOY,Z,XY,xG1=[x,y,]T,=[u,v,r]T:Û=J()(1)J():J()=cos-sin0sincos0001(2)1.2[1],ML+D(L-c)=L+L(3)L=[uL,vL,rL],C=[uC,vC,rC],L,L=[u,v,r],M()M=MT0:2820025M=m-XÛu000m-YÛvmxG-YÛr0mxG-YÛrIz-NÛr(4)m,Iz,XÛuYÛvNÛr;YÛrD,:D=-Xu000-Yv-Yr0-Nv-Nr(5)(2),(3),(3),36036(10)d=0,:ÛxL=ALxL+BL+ELLyL=CLxL+(6)xL=[T,T]T,T();yL();3;L:AL=033I33033-M-1D;BL=033M-1;EL=033M-1;CL=[I33033](7)1.3,[1],:h(s)=Kwss2+20s+20(8),Kw,1.0,0.050.3,0P2M,[5](8):ÛxH=AHxH+EHHyH=CHxH(9)xH=[x,xH,y,yH,,H],H=[x,y,],yH:AH=Ai000Ai000AiAi=01-20-20(10)EH=[0k10k20k3]T(11)CH=010000000100000001(12)22.1Vw:ÛV=VÛ=(13),V,,:Ûxw=Eww(14)xw=[Vw,w]T,w=[,]T,Ew=I[1],:w=0.5wAfV2aCX()0.5wAsV2aCY()0.5wAsLV2aCN()2.2,Ûxc=Ecc(15),xc=[Vc,c,rc]Trc,c3(5),,,[4,6],,Û=Athr(-com)(16):com;Athr=diag{-1/T1,-1/T2,-1/T3}4,:Ûx=Ax+Bu+Ez=Hx+(17),x=[xTL,xTH,xTc,xTw,T]T,u=L+w,z=[zx,zy,z,zws,zwd]51T.Fossen.Guidanceandcontrolofoceanvehicles.NewYork:Wiley,1994.2BalchenJG.JenssenNA,MathisenEetal.AdynamicpositioningsystembasedonKalmanfilteringandoptimalcontrol.Modeling,IdentificationandControl.1980,Vol.1,No.3:135263.3FungPTK,GrimbleMJ.Dynamicshippositioningusingaself2tuningKalmanfilter.IEEEtransactionsonautomaticcontrol.1983,Vol.AC228,No.3:339249.4...Vol.17,No4.5...1985.6..,1999.2002529MathematicalModelofDynamicallyPositioningSystemofShipbyTongJinjun,HeLimingandTianZuohuaAbstract:Inthepaper,basedonreviewingthedevelopmenthistoryofdynamicallypositioningsystem,amathematicalmodelofdynamicallypositioningsystemisestablishedwhichincludeshighandlowfrequencymo2tionofship,thrustersandforceofwind,waveandcurrent.Andfinally,acompletemathmodelthatcanbeusedforcontrollingisgiven.Keywords:ShipDynamicallypositioningMathematicalmodelHighfrequencymotionLowfrequencymotion()(),,,:,,CO2CO2,CO2,CO2,60%,,,,(),,2000102002105715001200012016002000,,(CB/T3837-1998),,200071,,98,16,2200,8800DWT,137,24,3000