Thrust distribution optimizing method for power positioning system of dredge boat

A technology of dynamic positioning system and thrust distribution, which is applied in steering and steering with propulsion components, can solve the problems of unprovided structure and implementation method, and achieve the effect of good practicability, high precision and simple method

Inactive Publication Date: 2013-06-05
CCCC TIANJIN DREDGING +1
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AI Technical Summary

Problems solved by technology

However, the mechanism for performing positioning is only generally given as the main thruster, steer

Method used

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  • Thrust distribution optimizing method for power positioning system of dredge boat
  • Thrust distribution optimizing method for power positioning system of dredge boat
  • Thrust distribution optimizing method for power positioning system of dredge boat

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Embodiment 1

[0037] An optimization method for the thrust distribution of the dynamic positioning system of a dredger. The dynamic positioning system controls the three degrees of freedom motion of surge, sway and yaw. The controller calculates the position and heading deviation at each sampling time, Get the input of thrust distribution, that is, thrust command and yaw torque command in the horizontal direction. The optimization process of dynamic positioning system thrust distribution is described in detail as follows:

[0038] See attached figure 1 to Figure 6.

[0039] figure 1 Schematic top plan view of the propeller arrangement for a trailing suction dredger. The dynamic positioning thrust system includes a ducted lateral thruster 1 at the bow, main thrusters 2, 3 at the stern, and steering gears 4, 5. The thrust produced by the side thrusters is T 1 , which only has a force in the Y-axis direction, and the thrust generated by the main propeller 2 and the steering gear 4 is T 2...

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Abstract

The invention relates to a thrust distribution optimizing method for a power positioning system of a dredge boat and belongs to the technical field of precise dredging. The thrust distribution optimizing method for the power positioning system of the dredge boat is characterized in that the power positioning system controls motions in three freedom degrees, namely the surging, the swaying and the yawing, and the optimizing processes includes: (1) a thrust distribution model of the power positioning system is constructed; (2) a target function and limit conditions are built, and optimization of nonlinear simultaneous equations is solved, namely a nonlinear mapping process from expected control amount to control instructions of all execution mechanisms under the limit conditions is performed; (3) a forward sector-shaped thrust region of a thruster is divided into sub regions, and the solution is sought in each sub region; and (4) on which condition the target function is the smallest is compared by aid of a thrust distribution control strategy to obtain the optimum scheme of thrust distribution and solve expansion capacity of a screw-rudder combination and a bow thruster. The thrust distribution optimizing method has the advantages of being high in accuracy, strong in maneuverability, simple and convenient, good in practicality, wide in application and the like.

Description

technical field [0001] The invention belongs to the technical field of precise dredging, in particular to an optimization method for thrust distribution of a dynamic positioning system of a dredger. Background technique [0002] At present, the operation of the trailing suction dredger has different positioning requirements under various working conditions, especially in dredging and other working conditions, which require high positioning accuracy to ensure the normal operation of the trailing suction dredger. The dynamic positioning system has high positioning accuracy, which can ensure the accuracy requirements of the trailing suction dredger during operation. Usually, in the definition of "Marine Dynamic Positioning System (Marine Dynamic Positioning System)", a dynamic positioning ship refers to a ship that maintains its own position (fixed position or predetermined trajectory) only by the thrust of the thruster. Dynamic positioning system refers to a complete set of s...

Claims

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Application Information

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IPC IPC(8): B63H25/42
Inventor 丁树友顾明田俊峰俞梦蕻袁伟李军戴群王健刘长云杨立楠
Owner CCCC TIANJIN DREDGING
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