船舶动力定位系统推力分配策略研究

Research on Thrust Allocation of Ship Dynamic Positioning System

针对船舶动力定位系统推力分配过程中推进系统的燃油消耗大、推进器磨损严重、推力误差存在等现象,提出一种以带权重的伪逆算法为基础、合理高效地解决船舶推力分配问题的方法。整个推力优化分配的目标是使推进系统的能耗最小,同时考虑推进器的方位角变化速率,推进器的推力禁区、推力饱和限制等情况,静态解决方法给出了基于最小能量的各推力的优化方向,在考虑禁止角情况下,全回转推进器方向角可以缓慢变化,而动态解决方法提供了动态能力。两者结合后,成为一种以能量优化为目的的推力分配算法。经仿真验证,静态和动态相结合的推力分配算法要比纯静态的算法消耗更少的能量,而且误差更小,应用前景比较广泛。

Based on the pseudo inverse algorithm with the weights, a rational and effective method of solving thrust allocation of ship is proposed. Because thrust allocation of ship dynamic positioning system causes fuel consumption of propulsion system, badly worn of thrusters and thrust error and so on. The whole thrust optimization allocation goal is to minimize energy consumption of the propulsion system, taking into account the rate of change of the angle of azimuth thrusters, prohibited area of thrust of thrusters, saturation and re- striction of thrust and so on. Static solution gives thrust directions based on minimum energy. The direction angle of azimuth thrusters can slowly change, in considering banning angle cases. Dynamic solutions provides dynamic ability. After the combination, it become a kind of thrust allocation algorithm for the purpose of optimizing energy. The simulation results show that the combination of dynamic and static algorithms consumes less energy and the error is smaller than pure static algorithm. There is more extensive aoolication nrosnect.