动力定位系统舵桨组合推力分配研究

针对船舶动力定位系统推力分配中舵桨组合的推力建模及优化分配问题,将舵桨组合的非凸推力区域转化成4个凸区域,采用切换控制理论把非线性最优化问题转换为线性最优化问题。将舵、桨组合起来进行推力建模,以最小推力、舵角变化和推力误差为优化目标,对推进器的推力变化率、舵角变化率、推力误差范围和推力大小作了约束,采用多边形的方法把推力范围约束转化为线性不等式约束,基于总功率与总推力误差在不同推力区域设计了切换逻辑,实现了在不同的推力分配器中的切换。实船试验结果表明舵桨组合推力模型及推力分配策略是切实可行的,满足了推力分配的要求,在配备舵的动力定位船上具有良好的应用前景。

Research on thrust allocation of dynamic positioning vessels with propeller-rudder pairs

To solve the problem of thrust modeling and nonlinear optimization for propeller-rudder pairs in thrust allocation of dynamic positioning vessels, the non-convex thrust region can be converted into four convex polyhedral sets and Switch Control can be adopted to transform the nonlinear optimization problem into a linear one. Extended thrust can be used in modeling the propeller-rudder thrust with the minimum thrust, rudder angle change and thrust error as the optimization goal, which constrains rate of change of the propeller thrust and rudder angle, error range and magnitude of the propeller thrust. The application of a polygon can convert constrains of thrust range into linear inequality constraints, and switch logic can be de-signed based on the error in total power and total thrust in the process of switching in different thrust ar-eas. Results of the ship trials demonstrate that the proposed thrust modeling and thrust allocation scheme can meet the requirements of thrust allocation, which is feasible and has a good application prospect.