一个在船舶推力分配中避免奇异结构的简单方法（英文）  

Using a Simple Method for Singularity Avoidance in Thrust Allocation for Marine Vessels

作　　者：徐胜文[1,2,3] 汪学锋 王磊[1,2,3] 李博 周利[4] 

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]高新船舶与深海开发装备协同创新中心船海协创中心,上海200240 [3]上海交通大学船舶海洋与建筑工程学院,上海200240 [4]江苏科技大学船舶与海洋工程学院,江苏镇江212003

出　　处：《船舶力学》2017年第9期1099-1113,共15页Journal of Ship Mechanics

基　　金：Supported by the Ministry of Industry and Information Technology(Mooring position technology:floating support platform engineering(Ⅱ));the National Key Research and Development Program of China(Grant No.2016YFC0303405);the Shanghai Sailing Program(Grant No.17YF1409700)

摘　　要：处在奇异结构的船舶可能会突然失位,因为无法及时提供船舶所需的推力。文章提出了一个在船舶推力分配中避免奇异结构的简单方法。为了验证这个简单方法的效果,进行了一个半潜平台的时域模拟。时域模拟中用到了两种避免奇异结构的方法,包括新提出的方法和文献中经常提到的典型方法。从结果中可以得出,这个新方法具有和典型方法同样好的推力分配效果。用这个简单方法,虽然消耗的能量有少量增加,但时域模拟所花的时间大大地缩减了。这个简单方法的高效率可以保证它在船舶动力定位的实时推力分配中得到更广的应用。The vessel with singular configuration may suddenly loses its position since the required forces cannot be timely achieved. In this paper, a simple method which can avoid singularity configuration in thrust allocation is proposed. The performance of the new method was demonstrated by a time domain simulation for a semi-submersible. The simulation employed two different singularity avoidance methods including the new method and a typical method that was widely used in literature. The results show that the new proposed method can achieve the same good performance as the aforementioned typical method. And using the simple method, the elapsed time for simulation is largely suppressed, although the consumed power has a slight rise. The higher efficiency of the simple method can ensure this method more adaptive in real-time thrust allocation of dynamic positioning for marine vessels.

关 键 词：推力分配逻辑 避免奇异结构 简单方法 实时 

分 类 号：U661.3[交通运输工程—船舶及航道工程]