| 半潜式平台动力定位系统控制力动态约束分配法 |
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| 引用本文： | 梁海志,欧进萍.半潜式平台动力定位系统控制力动态约束分配法[J].海洋工程,2012,30(1):33-39. |
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| 作者姓名： | 梁海志 欧进萍 |
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| 作者单位： | 大连理工大学工程力学系;大连理工大学建设工程学部 |
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| 基金项目： | 国家自然科学基金创新研究群体项目资助(50921001);国家重点基础研究发展计划资助项目(2011CB013702;2011CB013703) |
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| 摘 要： | 半潜式平台动力定位推力分配系统通过计算每个推力器的推力和推力角,将控制力分配到推力系统的各推力器上。基于系统耗能最小模式,根据推力器之间的损失模型,通过动态设置推力可行域,将推力分配问题转化为求解二次型优化模型。考虑推力器的物理性能,以推力变化率和转角变化速率为控制参数,利用序列二次规划法得到数值计算结果。该方法充分考虑推力器的物理性能,降低推力器的机械磨损,且可以避免处理可行域为非凸集问题,有效地提高推力器的推力效率。
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| 关 键 词： | 动力定位 推力分配 动态约束 损失模型 半潜式平台 |
Dynamic positioning system thrust allocation algorithm with dynamical thrust constrains of semi-submersible platform |
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| LIANG Hai-zhi and OU Jin-ping.Dynamic positioning system thrust allocation algorithm with dynamical thrust constrains of semi-submersible platform[J].Ocean Engineering,2012,30(1):33-39. |
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| Authors: | LIANG Hai-zhi and OU Jin-ping |
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| Institution: | 1.Department of Engineering Mechanics,Dalian University of Technology,Dalian 116024,China;2.Faculty of Infrastructure Engineering,Dalian University of Technology,Dalian 116024,China) |
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| Abstract: | Dynamic positioning system’s thrust allocation system of semisubmersible platform allocates the control force to propellers by calculating each propeller’s thrust and angle.Based on minimum system power consumption mode and thrust loss mode between propellers,this paper builds a quadratic optimal problem by setting a dynamical thrust feasible region.In order to make sure of system’s safety,one showd select rate of change of thrust and angle as optimal parameters and give numerical results by sequential quadratic programming.This method considers the physical properties of thrusters and reduces the propellers’ mechanics wear and tear.Meanwhile,the method also avoids the processing feasible region to be non-convex and effectively improves thrust efficiency. |
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| Keywords: | dynamic positioning system thrust allocation dynamical thrust feasible region loss mode semi-submersible platform |
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