动力定位系统的推力分配策略研究

Design of the Thrust Allocation for the Dynamic Positioning System

以序列二次规划法为基础,提出一种合理高效地解决动力定位系统推力分配问题的方法。整个推力优化分配的目标是最小化推进系统的能耗,包括燃油消耗、推进器的磨损、推力误差等;同时还考虑到推进器的推力极限、最大推力变化速率、最大旋转速率、推进器推力的禁区、奇异结构等因素。对不同的推力禁区的处理方法进行对比,得到一个最合适的处理方法。计算实例表明,采用序列二次规划法能够实现对角度禁区的最优处理的目的,并能够达到降低燃油消耗,避免奇异结构,增加系统的可操纵性。

Based on the sequential quadratic programming method, a rational and effective method of solving thrust allocation is presented. The objective of the thrust optimum allocation is to minimize the energy consumption, including fuel consumption, tear and wear of thrusters and thrust error etc. Other factors such as thrust limitation, maximum thrust change rate of thrust, maximum slew rate of thrusters, forbidden sector for the thrust direction angle and singular configuration avoidance are also taken into consideration. A method about thrust forbidden sector is given by comparing with three methods. The sample indicates that this method can improve thruster angle, reduce energy consumption, avoid singular configuration and increase rnaneuverabilitv.