Ship real-time thrust distribution method based on double-thread parallel computing

Abstract

The invention provides a ship real-time thrust distribution method based on double-thread parallel computing. The method is characterized by comprising a thrust distribution algorithm based on logic,a thrust distribution optimization algorithm based on sequential quadratic programming and a decision-making method based on an optimization objective function. According to the method, the defect ofpoor real-time performance of the optimized thrust distribution algorithm is overcome, the advantage of rapidity based on the logic thrust distribution algorithm is combined, the suboptimal solution under the current condition can be given according to the optimization target when the optimized algorithm cannot give the optimal solution in the fixed solution period, and the method has the advantages of high real-time performance and good reliability. Meanwhile, constraints such as performance, power consumption and abrasion of a thruster are considered, and a practical scheme is provided for engineering application of an optimized thrust distribution algorithm.

Description

technical field [0001] The invention relates to a method for distributing real-time thrust of a ship, in particular to a method for distributing real-time thrust of a ship based on dual-thread parallel computing. Background technique [0002] Ship thrust allocation refers to converting the three-degree-of-freedom thrust and torque commands given by the control law into thrust and azimuth angle commands for each propeller, while considering the performance constraints of the propellers. Theoretically, this problem is a multivariable constrained optimization problem. There are already many optimization algorithms to solve it, but the thrust distribution method based on logic is mainly adopted in practical engineering applications. [0003] The logic-based allocation algorithm is to design different allocation logics, simplify the thrust allocation equation with constraints into a basic equation that can have an analytical solution, and then solve the thrust command. The logic...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a real-time thrust distribution method for ships based on dual-thread parallel computing. In order to solve the problem of poor real-time performance of the optimized thrust distribution algorithm, and to take into account constraints such as energy consumption, propeller performance and wear, the thrust distribution algorithm can be used in When the optimal solution cannot be calculated within a given control period, a suboptimal solution can still be given, thereby ensuring the real-time and reliability of the allocation algorithm

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