喷水推进动力定位推力分配方法

Thrust allocation method for water jet dynamic positioning

针对喷水推进器模型复杂非线性约束下的推力分配问题,提出了一种区域二次规划方法.将喷水推进器纵向推力的瞬时反向特性视为动态可行域的空间不完全对称变化,根据预求解的结果和所设计的区域分配逻辑,得到局部可行的初值和更为准确的求解可行域并保持其凸性,结合组合偏置优化求解算法最终可以得到满足船舶作业需求的最优分配结果.以一艘装配喷水推进器的动力定位船舶为研究对象进行了仿真验证,结果表明:该算法能够有效地实现推力分配,并且相较于传统迭代优化分配算法,求解精度和收敛速度都得到了较大的提升.

Aiming at the thrust allocation problems under complex nonlinear constraints of the waterjet model,a regional quadratic programming method was proposed.The method regarded the instantaneous reverse characteristic of the longitudinal thrust as an incomplete symmetrical change in dynamic feasible region.According to the pre-solved result and the designed sub-regional logic,a local feasible initial value and a more accurate convexity region could be obtained.Combined with the combined bias optimization solution algorithm,an optimal allocation result that meets the requirements of ship operations would be obtained.At last,a simulation verification was carried out with a research object ship equipped with water jets.The simulation results showed that the method can effectively solve thrust allocation problems.In addition,the method has better accuracy and faster speed than traditional methods.