摘要
针对一般广义逆算法直接求解动力定位推力分配问题存在推力和角度饱和的现象,采用了级联广义逆算法求解动力定位推力分配问题.该算法通过对饱和推力与饱和角度进行截断处理,保证了优化问题的解在可行域内.仿真结果表明,该算法能有效避免推力分配中出现的推力与角度饱和现象.
An algorithm named cascading generalized inverse（CGI）is proposed in order to handle the phenomenon of thruster saturation that usually occurs when generalized inverse（GI）is used to solve thrust allocation for dynamic positioning.This algorithm ensures that thrust and angle are in feasible area by cutting off saturated thrust and saturated angle.The simulation results show that thrust saturation and angle saturation phenomena have been avoided efficiently.
出处
《武汉理工大学学报（交通科学与工程版）》
2016年第2期206-209,共4页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家自然科学基金项目(61301279)
船舶动力定位推力优化分配算法研究项目(2015-zy-002)资助
关键词
动力定位
推力分配
饱和处理
级联广义逆
dynamic positioning
thrust allocation
saturation handling
cascading generalized inverse
