| 基于能量最优的组合偏置推力分配算法研究 |
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| 引用本文： | 施小成,魏玉石,宁继鹏,付明玉,赵大威.基于能量最优的组合偏置推力分配算法研究[J].中国造船,2012(2):96-104. |
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| 作者姓名： | 施小成 魏玉石 宁继鹏 付明玉 赵大威 |
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| 作者单位： | 哈尔滨工程大学自动化学院,哈尔滨,150001 |
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| 基金项目： | 中央高校基本科研业务费专项资金引人优秀人才项目(项目编号:HEUCFR1118) |
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| 摘 要： | 推力分配是动力定位控制系统的关键技术之一,其任务是将控制器输出的合力分配给各推进器。本文针对推力分配中存在的问题,提出组合偏置思想并设计了自适应组合偏置策略,建立了组合偏置推力分配算法。该算法基于能量最优方法,能够自适应地调整偏置量,兼顾船舶的能量消耗和操纵性。仿真结果表明该算法能有效地提高船舶的动态性能。
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| 关 键 词： | 推力分配 动力定位 组合偏置 全方位推进器 船舶控制 |
Research on Group Biasing Thrust Allocation Algorithm Based on Power Optimization |
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| SHI Xiaocheng,WEI Yushi,NING Jipeng,FU Mingyu,ZHAO Dawei.Research on Group Biasing Thrust Allocation Algorithm Based on Power Optimization[J].Shipbuilding of China,2012(2):96-104. |
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| Authors: | SHI Xiaocheng WEI Yushi NING Jipeng FU Mingyu ZHAO Dawei |
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| Institution: | (College of Automation,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | Thrust allocation is an important technique of dynamic positioning system,whose task is to distribute the composition of forces of controller to the thrusters.In this paper,the conception of group biasing is given and the adaptive group biasing scheme is designed in order to resolve the problems of thrust allocation.Consequently,the group biasing thrust allocation algorithm is proposed which is based on the optimal methods.In the algorithm,the biasing can be tuned adaptively according to thrust force,and both consumption and maneuverability are considered.Simulation results show that dynamic performances of DP ship are improved availably. |
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| Keywords: | thrust allocation dynamic positioning group biasing azimuthing thruster ship control |
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