动力定位系统推力分配非线性最优化研究（英文）

Research on Nonlinear Optimization of Thrust Allocation in Dynamic Positioning System

推力分配系统对动力定位系统的定位性能起决定性作用。文章提出了一种有效的动力定位系统推力分配最优化方法,将推进系统的能耗、推进器的磨损、推力误差、奇异结构避免作为目标函数。同时考虑推进器的推力极限、最大推力变化速率、最大旋转速率等因素,将推力分配转化为带有非线性约束的非线性最优化问题,从而利用非线性最优化求解算法求得最优解。为了验证所提出的推力分配优化方法的有效性,开展了风、浪、流作用下的模型试验。试验结果表明所提出的推力分配优化算法是有效的。

The thrust allocation plays an important role for the performance of Dynamic Positioning （DP） system. In this paper, an optimal method of thrust allocation is proposed by formulating nonlin-ear optimization problems with constrains. Minimizing the power consumption, reducing the tear and wear of thruster and avoiding singular configuration are considered. The other aspects of the thrust allocation are also taken into account, such as the physical limitations on admissible thrusts and az-imuth angles of the thrusters. In order to validate the effectiveness of the thrust allocation, a model experiment equipped with azimuth thrusters was carried out under the action of wind, current and waves. The experimental results indicate that the proposed optimal method of thrust allocation is very efficient and satisfactory performance of station and heading keeping is observed.