Fixed Angle Thrust Distribution Method for Dynamically Positioned Ships
A technology of dynamic positioning and fixed angle, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., to achieve the effects of reducing propeller wear, improving propulsion efficiency, and reducing propeller wear
Active Publication Date: 2020-09-04
WUHAN UNIV OF TECH
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Problems solved by technology
[0005] The purpose of the present invention is to provide a fixed-angle thrust distribution method for a dynamic positioning ship, which can solve the problem of directional movement control force distribution in the Joystick mode of a dynamic positioning ship, so as to achieve the purpose of reducing propeller wear
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[0021] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0022] The fixed-angle thrust distribution method of the dynamic positioning ship of the present invention, such as figure 1 As shown, it includes the following steps:
[0023] Step 1: Use 3 azimuth thrusters to propel the dynamic positioning ship, determine the quadrants to which the target thrusts of the ship's three motion directions given by the upper controller belong, and determine each azimuth thruster according to the quadrants to which the above target thrusts belong fixed propulsion angle;
[0024] Step 2: According to the propeller arrangement position of the dynamic positioning ship, the thrust distribution model under the fixed angle distribution mode is established;
[0025] Step 3: using the augmented Lagrangian multiplier algorithm to solve the thrust allocation model under the fixed angle allocation mode to obtain the actual t...
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The invention relates to a fixed angle thrust distribution method for a dynamic positioning ship. The method comprises the following steps of: 1: propelling the dynamic positioning ship with three full-turn propellers to determine the quadrant to which the target thrust of the three motion directions of the ship given by the upper controller belongs, and determining a fixed propulsion angle of each full swing propeller according to a quadrant to which the target thrust belongs; 2: according to the position of the propeller arrangement of the dynamic positioning ship, establish a thrust distribution model in the fixed angle distribution mode; 3: using the augmented Lagrangian multiplier algorithm to solve the thrust distribution model in the fixed angle distribution mode, and obtain the actual thrust value of each propeller; 4: Convert the actual thrust value of each thruster to the corresponding thruster motor speed. The Fixed angle thrust distribution method for dynamic positioning ship can reduce propeller wear.
Description
technical field [0001] The invention relates to the technical field of ship thrust distribution, in particular to a fixed-angle thrust distribution method for a dynamically positioned ship. Background technique [0002] With the deepening of mankind's exploration of ocean development, the huge demand for energy forces ocean development to operate in deep water areas, followed by a harsher ocean environment. Platform supply ships, drilling platforms, and drill ships operating in deep water areas The positioning accuracy and equipment manipulation conditions are relatively high, and the traditional mooring system is limited by water depth and maneuverability. The dynamic positioning technology to achieve high-precision fixed-point positioning is one of the key technologies for marine development. [0003] A dynamic positioning ship is composed of a control system, a sensor measurement system and a propulsion system. Dynamic positioning technology obtains position deviation da...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 冯辉刘梦佳徐海祥余文曌韩鑫廖刚周志杰卢林枫
Owner WUHAN UNIV OF TECH