An optimal thrust allocation algorithm with bivariate thrust efficiency function considering hydrodynamic interactions
An optimal thrust allocation algorithm with bivariate thrust efficiency function considering hydrodynamic interactions
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DOI：
10.1007/s00773-021-00814-0
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发表时间：
2021-04
影响因子：
2.6
通讯作者：
Ziying Tang;Huacheng He;Lei Wang;Xuefeng Wang
中科院分区：
文献类型：
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作者：
Ziying Tang;Huacheng He;Lei Wang;Xuefeng Wang
推力分配是动力定位系统(DPS)应用的重要内容。对于动态定位的船舶，推力分配问题被描述为一个非线性优化问题，其中所需的力和力矩在可用推进器之间分配。推进器的水动力相互作用效应和物理限制都会影响推力的产生。因此，如果考虑这些影响，推力分配算法是可以改进的。我们提出了一个同时考虑前推力角和后推力角的二元推力效率函数来描述推力损失。推力效率函数由模型试验得到，并用径向基函数(RBF)神经网络进行逼近。用带松弛变量的序列二次规划(SQP)算法求解推力分配问题。数值模拟表明，与禁区算法相比，最大功率降低了16.03%。该算法还可以增强系统的稳定性，突出了考虑双变量推力效率函数的优点。
Thrust allocation is of great importance for the application of Dynamic Positioning System (DPS). For dynamically positioned vessels, the thrust allocation is formulated as a nonlinear optimization problem, where the demanded forces and moments are distributed among the available thrusters. Both hydrodynamic interaction effects and physical limitations of thrusters affect the thrust generation. Therefore, the thrust allocation algorithm can be improved if these effects are considered. We propose a bivariate thrust efficiency function, dealing with both the forward thruster angle and the rear thruster angle, to describe the thrust loss. The thrust efficiency function is obtained from the model tests and approximated by the Radial Basis Function (RBF) neural network. The consequent thrust allocation problem is solved by the Sequential Quadratic Programming (SQP) algorithm with slack variables. The numerical simulations demonstrate a maximum power reduction of 16.03% compared with the forbidden zone algorithm. The proposed algorithm can also enhance system stability, highlighting the advantages of taking bivariate thrust efficiency function into account.