中文摘要：

近年来随着海洋油气开发的广泛需求,我国动力定位技术自主化研究也逐渐展开。为验证半潜式自航工程船的动力定位性能,文中建立了研究半潜式自航工程船的动力学模型的坐标系统。在此基础上,建立了半潜船的运动数学模型以及控制系统需要的运动模型。采用模块法,对影响半潜船的海风、海浪、海流等外界干扰载荷进行了最优计算。通过对环境载荷各个方向的力和力矩的仿真实验,获得了半潜船的水平运动时历曲线和船舶纵向、横向、艏向的运动变化曲线。运动模型的输出结果与半潜船缩比模型的水池试验结果运动趋势一致,满足精度要求。

英文摘要：

In recent years, the independent research on dynamic positioning technique has been gradually carried out since the demand for the development of oceanic oil and gas has risen up greatly. In order to verify the dynamic positioning performance of semi-submersible self-propelled ship, the coordinate systems used for the research on the dynamic models of semi-submersible self-propelled engineering ship was set in this paper. On this basis, the mathe-matical model of semi-submersible motion and the motion model of the control system were established. Modular method was adopted to optimize calculation of external interference loads on the semi-submersible ship, such as sea wind, sea wave and sea current. As per the simulation experiments on the forces and moments of the environment loads in 3 directions, the time history plot of horizontal movement of the semi-submerged ship, and the ship motion curve of vertical, horizontal, and heading were derived. The output of the motion model was consistent with the trend of the semi-submersible vessel model in the pool test.