半潜式平台动力定位系统推进器失效时域模拟

Time domain simulation of a semi-submersible platform with thrusters failed in dynamic positioning

针对某最新的深水半潜平台,应用PID控制策略和卡尔曼滤波技术相结合的方法对其动力定位能力进行了研究,重点关注在两台推进器于不同时刻分别失效后的平台运动和推进器功率消耗信息。在平台的运动时域分析中,通过采用数值模拟与实验验证相结合的方法来获得平台的水动力数据;而在推力分配过程中,以最小功率消耗为优化目标,并考虑了推进器的机械物理特性及水动力干扰造成的推力损失对推进器的推力进行了分配。结果表明编制的模拟软件具有理想的模拟效果,该平台在指定海况下动力定位能力良好。

The DPS capability of a latest semi-submersible platform with 8 azimuth thrusters is studied in this paper by employing the Kalman Filters associated to PID controllers to match with the real system.To estimate its response under given environmental conditions,focus is on the kinematic and power consumption information of the platform in the failure mode,in which there are two thrusters breaking down at a certain interval to investigate its DPS capability fully.During the time domain simulation,a hydrodynamic model verified by experimental research results is developed to obtain the wave drift forces accurately.In a wider context,to establish a mathematical model capable of obtaining a good positioning performance at the minimum power consumption level is the main purpose.Hence,a thruster forces allocation model is proposed,taking the hydrodynamic interaction and the mechanical limits of thrusters into account in the failure mode as well.The results reveal that this simulator can be utilized for the estimation of DPS capability with a desirable result.