截断重分配组合偏置推力分配算法

Truncation redistribution combined bias thrust distribution algorithm

针对海洋环境力较小,但方向大角度频繁变化,动力定位船舶控制系统要求推进器发出较小推力,甚至零推力的特殊工况,为了实现推力分配在实际中的应用,在组合偏置推力分配算法的基础上,提出了截断重分配的策略,设计了一种截断重分配组合偏置推力分配算法.该算法的仿真结果与原算法的比较,表明了其能够在不影响控制力分配的条件下,调整各推进器的推力方向,避免推进器的推力方向处于禁区角区域以及推进器进行小角度频繁变化,并通过模型实验验证了该算法在实际工程应用中能够避免推进器的推力损失,减少推进器小角度频繁转动导致的机械磨损和能量消耗.

For the special conditions,that the forces in the marine environment are small,the direction changes frequently at large angles,and the dynamic positioning ship control system requires the thruster to issue a small thrust,even zero thrust,in order to realize the application of thrust distribution in practice,truncation redistribution strategy is proposed on the basis of combined bias thrust distribution algorithm,and a truncation redistribution combined bias thrust distribution algorithm is designed.The simulation results of the algorithm are compared with those of the original algorithm,which shows that it can adjust the thrust direction of each thruster,avoid the thrust direction of the thruster entering the restricted corner area and further avoid frequent changes at small angles of the thruster without affecting the distribution of control force.The experiments show that the algorithm can avoid the thrust loss of the thruster and reduce the mechanical wear and energy consumption caused by the frequent rotation of the thruster at small angles in practical engineering applications.