考虑回转禁止域的动力定位船推力分配方法  

A thrust allocation method of dynamics positioning ships considering thruster azimuth forbidden region

作　　者：李新飞[1] 吴昌楠 袁利毫[1] 国岩 王宏伟[1] LI Xinfei;WU Changnan;YUAN Lihao;GUO Yan;WANG Hongwei(College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2020年第5期619-626,共8页Journal of Harbin Engineering University

基　　金：国家重大科技专项经费项目(2016ZX05057020);国家重点研发计(2018YFC1406000,2018YFC0309400)。

摘　　要：为了研究动力定位船矢量推进系统的推力分配方法,根据海洋石油286船推进器系统的空间布置特点,推导并建立了一种包含全回转推进器的过驱动矢量推进系统的数学模型。针对全回转推进器回转禁止域约束条件下的推力分配问题,提出一种将控制量进行归一化处理、直接分配与伪逆算法相结合的推力分配方法。通过动力定位过程的推力分配数值仿真,分析表明:过驱动矢量推进系统数学模型的准确性;且可实现动力定位船的三自由度运动控制;本方法还可实现推力优化分配输出,可有效避免全回转推进器在其回转禁止域内输出推力,同时具有简单、准确、实时性强、避免推力饱和输出等优点。本方法对DP船舶运动控制和推力分配方法的研究,具有一定的指导意义和工程价值。To study the thrust allocation method of the vector propulsion system of dynamic-positioning(DP)ships,a mathematical model of over-actuated vector propulsion system including three azimuth thrusters was established according to the space layout characteristics of the propulsion system of CNOOC′s HYSY286 ship.To solve the thrust allocation problem under the constraint condition of the azimuth forbidden region,a thrust allocation method is proposed in this paper;the method includes the normalization processing of control variables and the combination of direct allocation and pseudo-inverse algorithms.The accuracy of the model is verified by the numerical simulation analysis of thrust allocation in the DP process.The simulation results show that this method can realize the three degree-of-freedom motion control of the DP ship.This method can also realize the optimal allocation of thrust output and can effectively avoid thrust output in the azimuth forbidden region.Moreover,it also has advantages such as simplicity,high accuracy,the ability to operate in real time,and the ability to avoid the saturated output of the thrust.This method has certain guiding significance and engineering value for the study on DP ship motion control and thrust allocation method.

关 键 词：动力定位 过驱动推进系统 全回转推进器 回转禁止域 推力分配 

分 类 号：U661.31[交通运输工程—船舶及航道工程]