Thrust distribution management-based thrust distribution method for dynamic positioning vessel

A thrust distribution and dynamic positioning technology, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems that the thruster cannot output thrust, and the power positioning thrust distribution method is difficult.

Inactive Publication Date: 2012-10-03
HARBIN ENG UNIV
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Problems solved by technology

[0004] Due to redundancy and safety requirements, dynamic positioning ships are equipped with more propellers, and due to propeller failure or energy consumption considerations during work, in some cases it is not necessary to put all the propellers into work; the propulsion of work Due to the special requirements of underwate...

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  • Thrust distribution management-based thrust distribution method for dynamic positioning vessel
  • Thrust distribution management-based thrust distribution method for dynamic positioning vessel
  • Thrust distribution management-based thrust distribution method for dynamic positioning vessel

Examples

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Embodiment Construction

[0041] The following examples describe the present invention in more detail

[0042] combine figure 1 , the technical solution of the present invention specifically comprises the following steps:

[0043] (1) Select the propellers involved in the work, and set the corresponding azimuth range of motion;

[0044] (2) Group the propellers involved in the work; set 2 to 3 adjacent propellers as a propeller group, and treat a group of propellers as an independent propeller during the thrust distribution process.

[0045] (3) Set the corresponding offset for the omnidirectional thruster group. The specific method is: introduce interactive thrust between a group of omnidirectional thrusters. These thrusts cancel each other out, and the resultant external force is zero.

[0046] (4) Select the quadratic programming method to distribute the thrust, and its specific implementation steps are as follows:

[0047] 1) Linearize the maximum thrust constraint equation of the omnidirectiona...

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Abstract

The invention provides a thrust distribution management-based thrust distribution method for a dynamic positioning vessel. The method comprises the following steps of: selecting propellers participating in work, and setting corresponding azimuth variable ranges; grouping the propellers participating in the work; setting corresponding offset for an omnibearing propeller group; and distributing thrust by using a secondary planning method. A thrust distribution management module is introduced, and the convenient and practical thrust distribution management-based thrust distribution method for the dynamic positioning vessel is disclosed according to the propeller configuration of the dynamic positioning vessel, so that the problems of the prior are well solved, the propellers are rationally used, the method is easy to operate, and has high popularization value, the execution capability of a propeller system is improved, the thrust requirements of a dynamic positioning (DP) controller are met.

Description

technical field [0001] The invention relates to a dynamic positioning control method, in particular to a thrust distribution method in a ship dynamic positioning system. Background technique [0002] Ship dynamic positioning means that the ship or offshore platform does not rely on the mooring system, but uses various sensors equipped with itself to automatically detect the deviation between the actual position of the ship and the target position, as well as the influence of disturbance forces such as external wind, waves, and currents. Use the computer to calculate the thrust and torque required to restore the ship to the target position in real time, and distribute the thrust to each thruster, so that each thruster can generate corresponding thrust and torque to offset the disturbance force, so that the ship can be as far as possible It can be accurately maintained at the required position on the sea level to achieve positioning. [0003] The thrust distribution unit can ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 付明玉魏玉石郭峰王成龙张爱华
Owner HARBIN ENG UNIV
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