摘要
In order to deal with the chattering of rudder angle and the problem of non-convex attainable thrust regions,introduce the concept of dynamic attainable region for each thruster and rudder to limit the thruster rotational speed and the rudder angle,and decompose the thrust allocation optimization problem into several optimization sub-problems.The optimization sub-problems were solved by particle swarm optimization(PSO) algorithm.Simulation studies with comparisons on a model ship were carried out to illustrate the effectiveness of the proposed thrust allocation optimization method.
In order to deal with the chattering of rudder angle and the problem of non-convex attainable thrust regions,introduce the concept of dynamic attainable region for each thruster and rudder to limit the thruster rotational speed and the rudder angle,and decompose the thrust allocation optimization problem into several optimization sub-problems.The optimization sub-problems were solved by particle swarm optimization（PSO） algorithm.Simulation studies with comparisons on a model ship were carried out to illustrate the effectiveness of the proposed thrust allocation optimization method.
基金
National Natural Science Foundations of China(Nos.51579026,51079013)
Program for Excellent Talents in Universities of Liaoning,China(No.LR2015007)
Project of Resource and Social Security of Ministry of Human Province,China
Fundamental Research Funds for the Central Universities,China(No.3132016020)
