一种动力定位船舶推力分配策略研究

推力分配是船舶动力定位系统的重要组成部分,主要作用是计算各个推进器应发出的力,使船舶上的合力和合力矩满足控制要求。本文针对特殊海况或者工况下推力分配存在的问题设计了一种自适应组合偏置推力分配策略。该策略可以根据外力方向选择合适的分组方式,并根据环境力的大小自适应调整偏置量的大小,并综合考虑了推进系统的燃油消耗和机动性。仿真结果验证了该策略的有效性。

Research on a Thrust Allocation Strategy of Dynamic Positioning Vessels

Thrust allocation is an important aspect of the dynamic positioning system of vessels, which determines the control inputs of each thruster in accordance with the control law. In this paper, the conception of group biasing is given and the adaptive thrust allocation strategy is designed in order to solve the problem of thrust allocation. In this algorithm, it can select an appropriate group combination based on the direction of external forces and adjust the magnitude of thrust bias adaptively according to environment forces as well as the fuel consumption and maneuverability. Simulation results show the effectiveness of the strategy.