半潜式平台动力定位推力系统分配策略研究

为使动力定位推力分配系统在任何时刻均能产生定位所需的力和力矩,保证船舶处于预定位置或航向,在考虑推进器回转速度、额定功率、工作区限制和避免分配矩阵奇异值等约束条件下,采用基于序列的二次规划法在每个控制指令间隔内求解凸二次规划问题,实现了推力在不同推进器之间的最优分配,使系统的总功率消耗达到最小并有效的减少了推进器的损耗,计算实例结果验证了该方法的有效性。

Thrust Allocation Strategy for Dynamic Positioning Propulsion System of the Semi-submersible Platform

Thrust allocation system in dynamic positioning should be able to provide the required thrust and torque effectively to keep the ships in the predetermined position or maintain a scheduled course.Under the constrains such as azimuth thruster rate change,rate power,forbidden working zone for different thrusters and singularity avoidance,the paper applies the quadratic programming method solving at each sample a convex quadratic program approximating the nonlinear program,to realize the optimal allocation of the thrust among different propellers and to keep the total power consumption of the system at the minimal level as well as reduce the loss of the propeller.The calculated practical result verifies the validity of the method.