一个在船舶推力分配中避免奇异结构的简单方法（英文）

Using a Simple Method for Singularity Avoidance in Thrust Allocation for Marine Vessels

处在奇异结构的船舶可能会突然失位,因为无法及时提供船舶所需的推力。文章提出了一个在船舶推力分配中避免奇异结构的简单方法。为了验证这个简单方法的效果,进行了一个半潜平台的时域模拟。时域模拟中用到了两种避免奇异结构的方法,包括新提出的方法和文献中经常提到的典型方法。从结果中可以得出,这个新方法具有和典型方法同样好的推力分配效果。用这个简单方法,虽然消耗的能量有少量增加,但时域模拟所花的时间大大地缩减了。这个简单方法的高效率可以保证它在船舶动力定位的实时推力分配中得到更广的应用。

The vessel with singular configuration may suddenly loses its position since the required forces cannot be timely achieved. In this paper, a simple method which can avoid singularity configuration in thrust allocation is proposed. The performance of the new method was demonstrated by a time domain simulation for a semi-submersible. The simulation employed two different singularity avoidance methods including the new method and a typical method that was widely used in literature. The results show that the new proposed method can achieve the same good performance as the aforementioned typical method. And using the simple method, the elapsed time for simulation is largely suppressed, although the consumed power has a slight rise. The higher efficiency of the simple method can ensure this method more adaptive in real-time thrust allocation of dynamic positioning for marine vessels.