CN105301963B - A kind of thrust optimizing distribution method based on ship power management system - Google Patents
A kind of thrust optimizing distribution method based on ship power management system Download PDFInfo
- Publication number
- CN105301963B CN105301963B CN201510790162.4A CN201510790162A CN105301963B CN 105301963 B CN105301963 B CN 105301963B CN 201510790162 A CN201510790162 A CN 201510790162A CN 105301963 B CN105301963 B CN 105301963B
- Authority
- CN
- China
- Prior art keywords
- thrust
- power
- propeller
- distribution
- mrow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
- Supply And Distribution Of Alternating Current (AREA)
Abstract
The invention discloses a kind of thrust optimizing distribution method based on ship power management system, controller obtain be currently needed for distribution make a concerted effort and make a concerted effort away from, then thrust optimization distribution is carried out to given thrust using bascthrust distribution method, and give optimum results to power management system and carry out analysis judgement, secondary thrust optimization distribution is carried out if being unsatisfactory for grid requirements；Power management system adjusts full ship power network according to the thrust size after secondary distribution.The present invention adjusts propeller power using the thrust optimizing distribution method of propeller biasing, so as to adjust full ship power network, this method is easy and effective, effectively improves network of ship quality and prevents grid cut-off, the security of ship is improved, and reduces main frame abrasion and energy consumption.
Description
Technical field
It is specifically a kind of to be based on vessel power pipe the present invention relates to a kind of dynamic positioning vessel thrust distribution method
The thrust optimizing distribution method of reason system.
Background technology
21 century is the marine economy epoch, is risen with the high speed of marine industries, dynamic positioning system is for marine drilling
The ocean engineering ships such as platform, lifting pipe laying vessel, cable laying ship, platform supply vessel for platform, it has also become its operation on the sea is special
Essential support system when being deep ocean work, it is that China accelerates the indispensable marine engineering equipment of marine resources development.
Ship Dynamic Positioning Systems Based refers to not by anchoring, and using self-propelled device effectively produce reaction force and
Torque goes to resist the effect to ship of stormy waves stream and other external force, ship is maintained at setting position and bow to or making ship smart
The system for really tracking given trace.Dynamic positioning system is made up of wave filter, controller, thrust optimization distribution；Wave filter picks
Except sensor obtains, to deviation, calculating needs according to position and bow to controller, controller and returning to setting after high-frequency information
Position and bow to power and torque, the power and torque that thrust optimization basic of distribution controller calculates is each on optimization ship
The thrust of propeller, then obtain the control instruction of each propeller, make ship return to setting position and bow to.
Due to shafting of the ship using all electric propulsion mode without tradition machinery propulsion mode, there is layout flexibility
The advantages that；Generating set can arbitrarily be adjusted according to the change of electric load on the change of the speed of a ship or plane of ship, displacement change, ship
Quantity is run, there is the preferable economy such as efficient, energy-conservation.At present, it is special to have turned into ocean engineering vehicle for all electric propulsion mode
It is the standard propulsion mode for the ship for equipping dynamic positioning system.
On dynamic positioning vessel except account for full ship relatively high power propeller load in addition to, also heave compensator, crane,
Other loads such as winch, pump, well system, due to promoting the significant load saltus step pair of other load equipments on the fluctuation of load and ship
Whole Ship Electrical Power System causes larger impact, can influence the frequency of whole network of ship and the change of voltage, so as to add
The abrasion of big generating set and energy consumption, or even full ship power system power-off fault can be caused.Existing thrust distribution method is
Made a concerted effort according to what DP (dynamic positioning, dynamic positioning) controllers or Joystick (control stick) controller provided
Rotating speed or pitch, the instruction of azimuth or rudder angle of optimal each propeller are calculated with moment, without in view of propeller
The influence of load regulation and the mutation of other bearing powers to whole network of ship frequency and voltage, efficiency and mill to generating set
The influence of damage.
Application No. 201210177475.9, a kind of entitled " dynamic positioning vessel thrust point allocated management of based on thrust
The patent of invention of method of completing the square ", a kind of thrust force distribution method of power location system of ship is invented, but the invention is a kind of warp
Cross the method that each propeller thrust is calculated in thrust distribution.Application No. 201210177458.5, it is entitled " based on online
The patent of invention of the dynamic positioning vessel propeller load method for limiting of available horsepower ", has invented one kind and has been based on online available horsepower
Dynamic positioning vessel propeller load method for limiting, obtain the limit for tonnage factor of each propeller online by power station, control promotes
Device prevents its overload, without in view of influence of the dynamic characteristic in other high power loads and power station on ship to power network.
The content of the invention
Goal of the invention：The present invention is intended to provide a kind of be based on ship power management system, can be negative by other in ship
In the case of carrying with environmental catastrophe, online according to the rate of change of other loads of ship, the secondary thrust biased using propeller is excellent
Change the thrust of distribution method dynamic regulation propeller, so as to adjust whole ship power system, make whole ship mains frequency and voltage suitable
Fluctuated in the range of, prevent Ship Electrical Power System disconnection fault, improve the security of ship operation on the sea, reduce Ship Propeling system
The abrasion of system and energy consumption.
Technical scheme：A kind of thrust optimizing distribution method based on ship power management system, comprises the following steps：
A) thrust allocation unit obtains from DP controllers or Joystick controllers is currently needed for making a concerted effort and making a concerted effort for distribution
Away from；
B) carried out thrust optimization with resultant moment with joint efforts to described with bascthrust distribution method and distributed, and optimization is calculated
Propeller thrust and minimum propeller power be sent to power management system；
C) power management system according to the heavy duty requests of other loads this moment, to currently propel device consumption power, full ship total
Dump power, network of ship operation conditions, required minimum propeller power are analyzed, and whether judge current desired consumption power
Within in frequency, scope range of the fluctuation of voltage in power network and whether economic benefit is optimal, such as meets above-mentioned condition, thrust allocation unit
Each propeller instruction calculated with the optimization of bascthrust distribution method is sent to each propeller；Used if being unsatisfactory for
Power adjusting thrust distribution method carries out secondary distribution；
D) thrust allocation unit is according to the given propulsion system maximum allowable power of power management system, other bearing powers
Change, currently propel device consumption power, select propeller bias power, secondary push away is carried out using power adjusting thrust distribution method
Power optimization distribution, and each propeller thrust value after distribution is sent to power management system；
E) power management system is according to the thrust after power adjusting thrust distribution method secondary distribution in thrust allocation unit
Size, control diesel engine start and stop, regulation diesel engine speed, main circuit breaker state, Generator Status and propeller in power network
State, so as to adjust full ship line voltage, frequency, prevent full ship grid cut-off.
Preferably, step D) described in power adjusting thrust distribution method with minimum power, thrust, propeller power change
The difference and thrust error of rate and other bearing power rates of change are that thrust distributes purpose, with thrust-balancing, power constraint, propeller
Dynamic thrust scope is constraints, is optimized using lagrangian optimization method, the thrust distribution model used for：
St.B (a) Kf=τd+s
Pmax≥PcK|f|3/2≥Pmin+Pbias
f-≤f≤f+
Wherein, PcFor power relation vector, K be thrust coefficient matrix, and f is the thrust of propeller, and Ψ is weight matrix, Θ
For the difference power rate of change factor,For propeller power rate of change,For other bearing power rates of change, Q is weight matrix,
S is that relaxation factor ensures that thrust is assigned solution, and B (a) Kf are thrust equation, τdFor make a concerted effort and resultant moment, PmaxTo currently propel device
Maximum available power, PminTo currently propel device minimum available horsepower, PbiasFor propeller bias power value, f-It is current for propeller
Thrust lower limit, f+Work as the forward thrust upper limit for propeller.
Beneficial effect：
1st, the propeller biasing means that the present invention uses, make to produce reciprocity law thrust between propeller, while do not change
Make a concerted effort and make a concerted effort caused by complete all propellers of ship away from the shortcomings that compensate for Turbocharging System of Diesel Engine low-response, improving whole
Quick response of the ship power system to mutation load；This method adjusts full ship power network by power management system, using minimum
Generator is online, avoids diesel engine from being run for a long time in the case of much smaller than rated power, improves fuel efficiency, the row of reducing
Put, reduce the abrasion of propulsion unit, economic benefit is much larger than the increased energy consumption of biasing caused by propeller biasing.
2nd, the present invention carries out thrust optimization distribution, dynamic based on ship power management system using the method for propeller biasing
Propeller power is adjusted, so as to adjust the power of whole ship, full ship power system is born other load changings, some generating
Machine failure, power system partial circuit short trouble, it is therefore prevented that full ship power system power-off, improve the security of ship.
Brief description of the drawings
Fig. 1 is the control structure figure that the present invention is applied to ocean engineering vehicle dynamic positioning system and electric power station system；
Fig. 2 is ocean engineering vehicle NETWORK STRUCTURE PRESERVING POWER SYSTEM figure.
Embodiment
The present invention is described in more detail below in conjunction with the accompanying drawings.
As shown in figure 1, ocean engineering vehicle dynamic positioning system and electric power station system control system include：Power management system
System, power station, marine propeller, other loads, DP controllers or Joystick controllers, thrust allocation unit, thrust distribution are single
Member includes bascthrust allocation unit and power adjusting thrust allocation unit, and wherein bascthrust allocation unit uses bascthrust
Distribution method, power adjusting thrust allocation unit use power adjusting thrust distribution method.
A kind of thrust optimizing distribution method based on ship power management system of the present invention, comprises the following steps：
Position that 1.DP controllers or Joystick controllers are fed back according to ship and bow to signal and setting value it
Difference, calculate ship surging this moment, swaying and yawing direction make a concerted effort and resultant moment τd, and by τdGive thrust allocation unit.
2. bascthrust allocation unit is with bascthrust distribution method to given τdThrust optimization distribution is carried out, will be optimized
The result calculated：The thrust f of each marine propeller is sent to power management system, required minimum propeller power PminSend
To power management system；Bascthrust distribution method distributes purpose using minimum power and thrust error as thrust, with thrust-balancing
It is constraints with marine propeller mechanical property, is optimized using lagrangian optimization method, the thrust distribution mould of use
Type is：
St.B (a) Kf=τd+s (2)
f-≤f≤f+ (3)
Wherein, PcFor power relation vector, K is thrust coefficient matrix, and f is the thrust of propeller, and Q is weight matrix, and s is
Relaxation factor ensures that thrust is assigned solution, and B (a) Kf are thrust equation, τdFor make a concerted effort and resultant moment, f-Work as forward thrust for propeller
Lower limit, f+Work as the forward thrust upper limit for propeller.
3. power management system is asked according to the heavy duty of other loads this moment, current marine propeller consumes power Pprev、
The total dump power of full ship, network of ship operation conditions, required minimum propeller power PminAnalyzed, judged current desired
Consume power whether in the frequency, scope range of the fluctuation of voltage of power network within and the economic benefit such as diesel engine energy consumption it is whether optimal, such as
Meet above-mentioned condition, thrust allocation unit changes each marine propeller thrust f that the optimization of bascthrust distribution method calculates
Each marine propeller is sent into corresponding marine propeller rotating speed and azimuth control instruction；If it is unsatisfactory for using power
Thrust distribution method is adjusted to giving τdCarry out secondary distribution.
4. the propulsion system maximum allowable power P that thrust allocation unit gives according to power management systemmax, other loads
Changed power Pff, current marine propeller consumption power Pprev, select appropriate marine propeller bias power value Pbias, use
Power adjusting thrust distribution method carries out secondary thrust optimization distribution under prescribed conditions, and power adjusting thrust distribution method is with most
Small-power, thrust, the difference of marine propeller power variation rate and other bearing power rates of change and thrust error are that thrust is distributed
Purpose, using thrust-balancing, power constraint, marine propeller mechanical property as constraints, entered using lagrangian optimization method
Row optimization, the thrust distribution model used for：
St.B (a) Kf=τd+s (5)
Pmax≥PcK|f|3/2≥Pmin+Pbias (6)
f-≤f≤f+ (7)
Formula (4) is the object function of optimization, and Section 1 is that Section 2 is that marine propeller is pushed away to marine propeller power
Power, Section 3 are the differences to marine propeller changed power and the change of other bearing powers, and Section 4 is to giving thrust τdWith
Thrust B (a) Kf errors after distribution.
Formula (5) is given first equality constraint for object function (4), is after requirement distribution and set-point τdPhase
Deng.
Formula (6) is the constraint to marine propeller power, it is desirable to which the power of marine propeller is more than required minimum propulsion
Power PminWith marine propeller bias power PbiasSum, less than given propulsion system maximum allowable power Pmax。
Formula (7) is the constraint to marine propeller thrust variation rate, the constraints consider each marine propeller size,
The factors such as marine propeller that mechanical property is determined is maximum, the maximum of minimum thrust value and thrust, minimum rate of change.
The target of power adjusting thrust distribution method is to make formula (4) minimum, while meets formula (5), (6), (7) constraint bar
Part, obtain the thrust f, wherein τ of a marine propellerdIt is controlled quentity controlled variable, the marine propeller bias power P of DP controllersbiasAnd its
Its bearing power rate of changeIt is the controlled quentity controlled variable of power management system, marine propeller thrust and power relation vector Pc, thrust
Coefficient matrix K, marine propeller thrust dynamic change lower limit f-, marine propeller thrust dynamic change higher limit f+It is by ship
What oceangoing ship and marine propeller physical characteristic determined, weight matrix Ψ and Q, difference power rate of change factor Θ are needed in optimization process
The parameter to be adjusted.
5. power management system is according to the thrust after power adjusting thrust distribution method secondary distribution in thrust allocation unit
F, by controlling the equipment such as diesel engine start and stop in power network, diesel engine speed, main circuit breaker, generator, so as to adjust full ship electricity
Net voltage, frequency, full ship grid cut-off is prevented, improves the security of ship, and reduce main frame abrasion and energy consumption.
Illustrate how power management system adjusts full ship power network with reference to Fig. 2：
Power management system can control generating set G1, G2, G3, regulation diesel engine 1, diesel engine 2, turn of diesel engine 3
Whether speed, control generator 1 grid-connected by main circuit breaker CB1, controls whether marine propeller 1 can use by main circuit breaker CB2,
Control whether to connect other transmission of electricity network segments by main circuit breaker CB3, propulsion electric machine M1 rotating speed is adjusted by frequency converter FC, so as to
Full ship line voltage, frequency range are adjusted, optimizes full ship power grid quality, prevents full ship grid cut-off.
Illustrate the effect of the thrust distribution method with reference to table 1：
Assuming that generating set 1,2,3 is just as in Fig. 2, dynamic load rate of change that every generating set can be born
For the 30% of rated capacity, the power that other load equipments are asked to power management system is separate unit generating set capacity
The propeller power that 90%, DP positioning need is the 90% of separate unit genset rated capacity, is needed when ship is carrying out DP operations
Power system is completely secured not power off, marine propeller bias power size is set for the 30% of separate unit generating set capacity.
Table 1 is full ship Operation of Electric Systems situation after the thrust distribution using propeller biasing：
Table 1：
From table 1 it follows that marine propeller bias power regulation thrust distribution method is not used to run two generatings
Unit can not meet system requirements, it is necessary to which running all 3 generating functions prevents grid cut-off；Work(is biased using marine propeller
Rate regulation thrust distribution method, which runs 2 generating sets, can prevent grid cut-off, although biasing consumption using marine propeller
Power is big, but load of its longtime running 30% when running 3 generating sets, and now generating set abrasion is big, efficiency
Difference, discharge are poor, and economic benefit can not show a candle to run 2 generators.
Claims (2)
1. a kind of thrust optimizing distribution method based on ship power management system, it is characterised in that comprise the following steps：
A) thrust allocation unit obtained from DP controllers or Joystick controllers be currently needed for distribution make a concerted effort and make a concerted effort away from；
B distribution) is optimized to the thrust that carried out with joint efforts with resultant moment with bascthrust distribution method, and pushed away what optimization calculated
The thrust and required minimum propeller power for entering device are sent to power management system；
C) power management system asks according to the heavy duty of other loads this moment, currentlys propel the total residue of device consumption power, full ship
Whether power, network of ship operation conditions, required minimum propeller power are analyzed, judge current desired consumption power in electricity
Within in the frequency of net, scope range of the fluctuation of voltage and whether economic benefit is optimal, such as meets above-mentioned condition, and thrust allocation unit is using
Each propeller instruction that the optimization of bascthrust distribution method calculates is sent to each propeller；Power is used if being unsatisfactory for
Adjust thrust distribution method and carry out secondary distribution；
D) thrust allocation unit becomes according to the given propulsion system maximum allowable power of power management system, other bearing powers
Change, currently propel device consumption power, select propeller bias power, secondary thrust is carried out using power adjusting thrust distribution method
Optimization distribution, and each propeller thrust value after distribution is sent to power management system；
E) power management system is according to the thrust size after power adjusting thrust distribution method secondary distribution in thrust allocation unit,
Diesel engine start and stop, regulation diesel engine speed, main circuit breaker state, Generator Status and the propeller state in power network are controlled,
So as to adjust full ship line voltage, frequency, full ship grid cut-off is prevented.
2. a kind of thrust optimizing distribution method based on ship power management system according to claim 1, its feature exist
In step D) described in power adjusting thrust distribution method with minimum power, thrust, propeller power rate of change and other loads
The difference and thrust error of power variation rate are that thrust distributes purpose, with thrust-balancing, power constraint, propeller dynamic thrust scope
For constraints, optimized using lagrangian optimization method, the thrust distribution model used for：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<munder>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
<mrow>
<mi>f</mi>
<mo>,</mo>
<mi>s</mi>
<mo>,</mo>
<msub>
<mi>&tau;</mi>
<mi>e</mi>
</msub>
</mrow>
</munder>
</mtd>
<mtd>
<mrow>
<msub>
<mi>P</mi>
<mi>c</mi>
</msub>
<mi>K</mi>
<msup>
<mrow>
<mo>|</mo>
<mi>f</mi>
<mo>|</mo>
</mrow>
<mrow>
<mn>3</mn>
<mo>/</mo>
<mn>2</mn>
</mrow>
</msup>
<mo>+</mo>
<msup>
<mi>&Psi;</mi>
<mi>T</mi>
</msup>
<mi>K</mi>
<mi>f</mi>
<mi>&Psi;</mi>
<mo>+</mo>
<mi>&Theta;</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mover>
<mi>P</mi>
<mo>&CenterDot;</mo>
</mover>
<mrow>
<mi>t</mi>
<mi>h</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mover>
<mi>P</mi>
<mo>&CenterDot;</mo>
</mover>
<mrow>
<mi>f</mi>
<mi>f</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>Q</mi>
<mi>T</mi>
</msup>
<mi>s</mi>
<mi>Q</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
St.B (a) Kf=τd+s
Pmax≥PcK|f|3/2≥Pmin+Pbias
f-≤f≤f+
Wherein, PcFor power relation vector, K is thrust coefficient matrix, and f is the thrust of propeller, and Ψ is weight matrix, and Θ is work(
The rate difference rate of change factor,For propeller power rate of change,For other bearing power rates of change, Q is weight matrix, and s is pine
The relaxation factor ensures that thrust is assigned solution, and B (a) Kf are thrust equation, τdFor make a concerted effort and resultant moment, PmaxTo currently propel device maximum
Available horsepower, PminTo currently propel device minimum available horsepower, PbiasFor propeller bias power value, f-Work as forward thrust for propeller
Lower limit, f+Work as the forward thrust upper limit for propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510790162.4A CN105301963B (en) | 2015-11-17 | 2015-11-17 | A kind of thrust optimizing distribution method based on ship power management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510790162.4A CN105301963B (en) | 2015-11-17 | 2015-11-17 | A kind of thrust optimizing distribution method based on ship power management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105301963A CN105301963A (en) | 2016-02-03 |
| CN105301963B true CN105301963B (en) | 2018-04-06 |
Family
ID=55199361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510790162.4A Active CN105301963B (en) | 2015-11-17 | 2015-11-17 | A kind of thrust optimizing distribution method based on ship power management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105301963B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807610B (en) * | 2016-03-04 | 2018-07-31 | 武汉理工大学 | Adaptive weight matrix weights puppet reverse thrust distribution towards Ship Dynamic Positioning Systems Based and saturated process method |
| US10384774B2 (en) | 2016-09-08 | 2019-08-20 | General Electric Company | Tiltrotor propulsion system for an aircraft |
| TWI609817B (en) * | 2016-12-23 | 2018-01-01 | Ship And Ocean Industries R&D Center | Multiple input/output ship dynamic electricity distribution control method |
| CN108572550A (en) * | 2018-03-16 | 2018-09-25 | 上海交通大学 | A kind of online real-time thrust distribution method based on machine learning |
| CN108919827B (en) * | 2018-06-27 | 2020-06-23 | 中国科学院数学与系统科学研究院 | Double-suboptimal rapid distribution method for thrust vector aircraft control |
| CN111009922B (en) * | 2019-12-20 | 2024-02-06 | 宝鸡石油机械有限责任公司 | Management system and management method with reload inquiry and power reduction protection functions |
| CN114379744B (en) * | 2020-10-16 | 2024-06-14 | 川崎重工业株式会社 | Ship control system and ship |
| TR202022038A2 (en) * | 2020-12-28 | 2022-07-21 | Bma Teknoloji Anonim Sirketi | A METHOD FOR ENERGY EFFICIENCY AND A HARDWARE THAT WORKS ACCORDING TO THIS METHOD |
| CN112947254B (en) * | 2021-03-29 | 2022-05-13 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Multi-propeller combined control method for engineering ship |
| CN113126503B (en) * | 2021-04-28 | 2022-09-30 | 上海海事大学 | Intelligent ship thrust distribution method considering propeller faults |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508431A (en) * | 2011-11-04 | 2012-06-20 | 江苏科技大学 | Thrust distribution method for power positioning system of offshore drilling platform |
| CN102689685A (en) * | 2012-06-01 | 2012-09-26 | 哈尔滨工程大学 | Dynamic positioning vessel thruster load limit method based on on-line available power |
| CN102707625A (en) * | 2012-06-01 | 2012-10-03 | 哈尔滨工程大学 | Thrust distribution management-based thrust distribution method for dynamic positioning vessel |
| CN103592849A (en) * | 2013-11-12 | 2014-02-19 | 中国交通建设股份有限公司 | Ship dynamic positioning control method |
| CN104133374A (en) * | 2014-05-23 | 2014-11-05 | 广东工业大学 | Thrust distribution method of ship and oil platform dynamic positioning system |
-
2015
- 2015-11-17 CN CN201510790162.4A patent/CN105301963B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508431A (en) * | 2011-11-04 | 2012-06-20 | 江苏科技大学 | Thrust distribution method for power positioning system of offshore drilling platform |
| CN102689685A (en) * | 2012-06-01 | 2012-09-26 | 哈尔滨工程大学 | Dynamic positioning vessel thruster load limit method based on on-line available power |
| CN102707625A (en) * | 2012-06-01 | 2012-10-03 | 哈尔滨工程大学 | Thrust distribution management-based thrust distribution method for dynamic positioning vessel |
| CN103592849A (en) * | 2013-11-12 | 2014-02-19 | 中国交通建设股份有限公司 | Ship dynamic positioning control method |
| CN104133374A (en) * | 2014-05-23 | 2014-11-05 | 广东工业大学 | Thrust distribution method of ship and oil platform dynamic positioning system |
Non-Patent Citations (6)
| Title |
|---|
| Thrust allocation with power management functionality on dynamically positioned vessels;Veksler A,et al.;《American Control Conference (ACC), 2012.IEEE》;20121231;全文 * |
| Transient power control in dynamic positioning-governor feedforward and dynamic thrust allocation;Veksler A,et al.;《 IFAC Proceedings Volumes》;20121231;第45卷(第27期);全文 * |
| 动力定位系统舵桨组合推力分配研究;袁伟 等;《船舶力学》;20150430;第19卷(第4期);全文 * |
| 海洋工程船推力分配策略;祝庆庆;《舰船科学技术》;20130531;第35卷(第5期);全文 * |
| 电力推进船舶功率管理系统综述;尚安利 等;《船电技术》;20111031;第31卷(第10期);全文 * |
| 耙吸挖泥船动力定位系统推力分配策略的研究;刘鹏 等;《科学技术与工程》;20120229;第12卷(第5期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105301963A (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105301963B (en) | A kind of thrust optimizing distribution method based on ship power management system | |
| KR102670422B1 (en) | Ship energy management system | |
| US10041469B2 (en) | Method for maintaining floating-body type wind turbine power generating apparatus | |
| EP2569844B1 (en) | Power supply system for marine drilling vessel | |
| US20100274420A1 (en) | Method and system for controlling propulsion systems | |
| CN102689685B (en) | Dynamic positioning vessel thruster load limit method based on on-line available power | |
| NO20150349A1 (en) | Dynamic hybrid control | |
| CN101351381A (en) | Method for operating an energy system of a ship and energy system suitable therefore | |
| CN110690730B (en) | Power and energy control method for hybrid power ship | |
| CN103482034B (en) | A kind of floating type gas platforms | |
| EP3533127B1 (en) | Providing auxiliary power when a high-voltage link is non-functional | |
| CN204587243U (en) | Bank electricity power supply boat | |
| Zahedi et al. | Voltage regulation and power sharing control in ship LVDC power distribution systems | |
| DK202000220A1 (en) | An offshore jack-up installation and method | |
| CN110192317A (en) | The exchange of electric power of control and self-commutation converter | |
| CN118100138A (en) | Underwater pumped storage control method and device, electronic equipment and storage medium | |
| JP5853969B2 (en) | Power transport network system | |
| CN207500059U (en) | A kind of half-direct-drive wind driven generator group is counter to drag system | |
| CN103562063B (en) | Ship | |
| CN112628070B (en) | Method and module for controlling pitching resistance increasing of floating platform of offshore floating type wind turbine generator | |
| CN204415699U (en) | Marine propuision system and using electricity system | |
| CN102946102A (en) | Variable-current power transmission system of tidal current generator unit, and working method thereof | |
| Mehrzadi et al. | Operation planning of standalone maritime power systems using particle swarm optimization | |
| CN106451469B (en) | Long and short cable crimping shore power voltage control device | |
| Veksler et al. | Reducing power transients in diesel-electric dynamically positioned ships using re-positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191227 Address after: 212211, No. 11, Daquan Road, Yangzhong, Jiangsu, Zhenjiang Patentee after: Jiangsu Daqo Kfine Electric Co., Ltd. Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: Jiangsu University of Science and Technology |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 212211, No. 11, Daquan Road, Yangzhong, Jiangsu, Zhenjiang Patentee after: JIANGSU DAQO KFINE ELECTRIC Co.,Ltd. Address before: 212211, No. 11, Daquan Road, Yangzhong, Jiangsu, Zhenjiang Patentee before: JIANGSU DAQO KAIFAN ELECTRICAL APPLIANCE Co.,Ltd. |