耙吸挖泥船动力定位系统推力分配策略的研究

Research on the Thrust Allocation for Dynamic Positioning System of Suction Hopper Dredgers

传统的耙吸式挖泥船的三揽定位由于成本低,不能满足复杂多变的河道环境以及高精度作业要求。动力定位系统能够克服挖泥船的大惯性、时变等特性,以满足挖泥船定位/定迹系统的精度和实时要求。分析了挖泥船自身配置的推进系统,提出了一种针对同时配备舵桨的推进设备的推力区域的处理方法。最后采用序列二次规划算法,得到推力分配的最优解。通过理论仿真研究,显示该方法满足了动力定位系统发出的推力指令,同时达到了节能增效的目的。

Due to the cheap cost of the traditional x＇mas tree system,so the suction hopper dredgers can not meet complex and variational riverway surroundings and high precision work demand.Dynamic positioning（DP） system can overcome the ships with its characteristic of great inertia and variation,also can meet the demand of Dynamic Positioning/Dynamic Track（DP/DT）.The thrust system of the dredger is analyzed,put forward a way to deal with the thrust area of the propeller with rudder.Then sequence quadratic programming（SQP） is used to find the best solutions for the thrust allocation.According to the simulink results,it shows that this method can satisfy with the thrust demand,also decease the fuel energy.