基于舵桨组合模型的动力定位推力分配优化策略

Thrust allocation optimization strategy of dynamic positioning based on the model of propeller-rudder pairs

以多用途拖轮船为对象,针对舵桨组合模型在动力定位推力分配中的影响,研究一种舵桨组合推力可行域的凸化处理方法,将舵桨组合等效为在相同位置上两个互相独立且可行域为凸集的推进装置,从而实现其非凸推力可行域的凸化处理;并根据舵桨组合装置的特征,结合增广拉格朗日算法建立目标函数和约束条件,实现动力定位推力分配优化.对不操舵和操舵两种情况下的推力分配优化进行了实例分析,仿真结果表明:舵桨组合推力可行域的凸化处理是可行的,而且能有效地节约能耗,提高多用途拖轮船的机动性和动力定位能力.

In order to study the influence of the propeller-rudder pairs in dynamic positioning thrust allocation,taking a multi-purpose tug as the object,a convexification method for the non-convex thrust region of propellerrudder pairs is studied. The propeller-rudder pairs are equivalent to two mutually independent thruster devices whose thrust region is convex in the same position. According to the characteristics of the propeller-rudder pairs,we can establish objective function and constraint conditions,which combined the augmented Lagrangian algorithm to achieve the optimization about the dynamic positioning thrust allocation. We simulate and analyze the example about thrust allocation optimization in two cases： no-steering and steering. The results show that the convexification method is feasible and the propeller-rudder pairs effectively save the energy consumption and improve the mobility and dynamic positioning ability for the multi-purpose tug.