一种船舶推力分配策略的研究与实现

Research and application of a thrust allocation in ship dynamic positioning system

实现船舶快速动力定位,快速高效的推力分配是一个不可忽视的技术难题.一种船舶推力分配策略的研究与实现主要针对可调节的带方向角约束的多推进器推进角度计算问题和各推进器推力幅值分配问题,即带约束的多参数快速最优解的求解问题.以先分配推进器推进角为原则,再采用伪逆算法分配推进器推力,实现推进器能耗最小.实验结果表明,该分配策略可以有效避免相邻近的推进器之间推力衰减,解决其他算法中的多奇异值问题和多次迭代计算问题,并克服其收敛时间长的缺点,实现推力分配计算的快速性、稳定性、高效性.该算法简单可靠,易于在船舶上实现,因此更适用于船舶的高速定位.

Thrust allocation, also known as power distribution, is used to distribute the order force or moment of controller to each propeller, as one of the key technologies in the ship dynamic positioning system（DSP）. It is a puzzling and can not be ignored matter to actualize a high efficient thrust allocation strategy with a fast tracking speed in order to achieving ship＇ s fast dynamic positioning. The proposal calculating angle and thrusting based on pseudo-inverse algorithm were adopted to solve angle distribution and amplitude distribution of that propeller, which has an adjustable angle with a constraint direction, namely fast optimization for multi-parameter with constrained. Experimental results show that the force attenuation between two adjacent propellers could be avoided effectively, the disadvantages in multi-singular-value, repeated iterations, and slow convergence speed of the other algorithms were improved and a thrust allocation with a rapid calculation, stability and high efficiency was implemented. In view of the simplicity and reliability of this algorithm, it is easy to implement on ship and more suitable for the ship with high-speed positioning.