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| 截断重分配组合偏置推力分配算法 |
| Truncation redistribution Combined bias Thrust distribution Algorithm |
| 投稿时间：2018-04-20 修订日期：2018-06-29 |
| DOI： |
| 中文关键词: 动力定位 推力分配 组合偏置 截断重分配 |
| 英文关键词: Dynamic positioning Thrust distribution Combinational bias Truncated redistributeion |
| 基金项目:国家自然科学基金（项目批准号: 61301279, 51479158） |
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| 中文摘要: |
| 针对海洋环境力较小，方向频繁地大角度变化，动力定位船舶控制系统要求推进器发出较小推力，甚至零推力的特殊工况，为了实现推力分配在实际中的应用，在组合偏置推力分配算法的基础上，提出了截断重分配的策略，设计了一种截断重分配组合偏置推力分配算法。该算法的仿真结果与原算法进行对比，表明了算法能够在不影响控制力分配的条件下，调整各推进器的推力方向，避免推进器的推力方向处于禁区角区域以及推进器进行小角度频繁变化。并通过实验验证了该算法在实际的工程应用中能够避免推进器的推力损失，减少推进器小角度频繁转动导致的机械磨损和能量消耗。 |
| 英文摘要: |
| For the special conditions，the forces in the marine environment are small, the direction changes frequently at large angles, and the dynamic positioning ship control system requires the thruster to issue a small thrust, even zero thrust, in order to realize the application of thrust distribution in practice, truncation redistribution strategy are proposed on the basis of combined bias thrust distribution algorithm，and a Truncation redistribution combined bias thrust distribution algorithm is designed. The simulation results of the algorithm are compared with the original algorithm, which shows that it can adjust the thrust direction of each thruster，avoid the thrust direction of the thruster entering the restricted corner area and further avoid frequent changes in the small angle of the propeller without affecting the distribution of control force. Then, the experiments show that the algorithm can avoid the thrust loss of the thruster and reduce the mechanical wear and energy consumption caused by the frequent rotation of the thruster at small angles in practical engineering applications. |
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