Method for distributing thrust of multiple thrusters of ocean engineering equipment dynamic positioning system

Abstract

The invention discloses a method for distributing thrust of multiple thrusters of an ocean engineering equipment dynamic positioning system. The method comprises the steps of establishing a multi-thruster thrust distribution mathematical model according to the application requirements of dynamic positioning in an actual project, wherein the method for establishing the multi-thruster thrust distribution mathematical model comprises the steps of obtaining an objective function and obtaining the constraint conditions of the characteristics of the thrusters; conducting optimization solving on the established multi-thruster thrust distribution mathematical model according to a group area searching algorithm. According to the method for distributing the thrust of the multiple thrusters of the ocean engineering equipment dynamic positioning system, due to the adoption of the group area searching algorithm, the problem of limitation of the optimization solving of the nonconvexity problem of the thrust distribution mathematical model of the dynamic positioning system is solved, and the solving range of the optimized thrust distribution is effectively widened; due to the adoption of the regional limitation type searching strategy, the optimized solving of the thrust distribution is achieved; due to the fact that the method has the advantages of being good in robustness and parallelism, simple and effective, the method is extremely beneficial to solving of optimized thrust distribution of the dynamic positioning system and can be applied to actual projects.

Description

technical field [0001] The invention relates to multi-propeller thrust allocation modeling and optimization technology of a dynamic positioning system for ocean engineering equipment, in particular to a multi-propeller thrust optimal allocation technology based on a group area search algorithm, which belongs to the technical field of ocean engineering. Background technique [0002] Dynamic positioning is a positioning method for marine engineering ships. Dynamic positioning systems are first applied in offshore drilling ships, platform support ships, submersible support ships, pipeline and cable laying ships, scientific research ships, and deep-sea rescue ships. The incoming environmental parameters (wind, wave, current) are calculated according to the position provided by the position reference system, and the automatic control system on the ship is used to issue instructions to control the thrust of each thruster installed at the bow and stern to keep the ship heading And ...

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Problems solved by technology

[0005] Aiming at the limitation caused by the requirement of strict convex set in the solution area in the current dynamic positioning system thrust distribution optimization method, the present invention proposes a multi-propeller thrust distribution method for the dynamic positioning system of marine engineering equipment, and solves the dynamic positioning problem by using the group region search algorithm. Solve the non-convex problem in the thrust distribution model of the system to realize dynamic positioning under the constraints of optimal energy consumption, minimum propeller wear, and minimum thrust error

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