基于严格等式约束的推力分配算法研究  

Research on thrust allocation algorithm based on strict equality constraints

作　　者：赵伟[1] 刘焕卫[1] ZHAO Wei;LIU Huan-wei(Ocean College,Yantai University,Yantai 264005,China)

机构地区：[1]烟台大学海洋学院,山东烟台264005

出　　处：《船舶力学》2021年第4期443-452,共10页Journal of Ship Mechanics

基　　金：山东省自然科学基金项目(ZR2015EL033);渤海沉潜油监视监测及围控清除技术研究子课题(HX15H90)。

摘　　要：为提高动力定位系统的定位精度,本文提出了一种满足严格等式约束的改进遗传算法对推力分配进行优化。该方法通过分析目标函数中不同项之间的影响,确定了推力角的权值系数,并从二个方面对遗传算法进行改进,提高了优化速度及精度:一是继承上一时刻的精英个体来生成等距初始种群;二是结合自适应算法加强局部搜索能力。针对推进器之间的水动力干涉问题,基于推力损失模型对推进器进行分组,并通过错位安置以及采用在推力禁区内设置推力减额系数的方法来降低推力损失,最后利用改进的遗传算法对半潜式平台动力定位系统的推力分配进行了仿真模拟。仿真结果表明,提出的方法在满足等式严格约束的基础上,降低了推进器推力的水动力损失,进而提高了系统的定位精度以及运行的经济性。In order to improve the positioning accuracy of the dynamic positioning system,an improved genetic algorithm that satisfies the strict equality constraint is proposed to optimize the thrust allocation.The method determines the weight coefficient of thrust angle by analyzing the influences among different items in the objective function,and improves the genetic algorithm to increase the optimization efficiency and accuracy from two aspects:one is to inherit the elite individuals from the previous moment to generate the equidistant initial population;the second is to combine adaptive algorithms to enhance the local search capabilities.Aiming at the hydrodynamic interference problem among thruters,the thrusters are grouped based on the thrust loss model,and the thrust loss is reduced by the dislocation placement and the method of setting the thrust attenuation coefficient in the thrust exclusion zone.Finally,the improved genetic algorithm is used to simulate the thrust allocation of the dynamic positioning system.The simulation results show that the proposed method reduces the hydrodynamic loss of the thrust on the basis of satisfying the strict constraint of the equation,and improves the positioning accuracy and economical operation.

关 键 词：动力定位 推力分配 遗传算法 推力损失 

分 类 号：U664.3[交通运输工程—船舶及航道工程]