CN108333926A - The fixed angle thrust distribution method of dynamic positioning ship - Google Patents
The fixed angle thrust distribution method of dynamic positioning ship Download PDFInfo
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- CN108333926A CN108333926A CN201810052459.4A CN201810052459A CN108333926A CN 108333926 A CN108333926 A CN 108333926A CN 201810052459 A CN201810052459 A CN 201810052459A CN 108333926 A CN108333926 A CN 108333926A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention relates to a kind of fixed angle thrust distribution methods of dynamic positioning ship, it includes：Step 1：Dynamic positioning ship is promoted using 3 all-direction propellers, determines that the quadrant belonging to the target propulsive force of given three direction of motion of ship of top level control device, the quadrant belonging to above-mentioned target propulsive force determine that the fixed of each all-direction propeller promotes angle；Step 2：According to the propeller position of dynamic positioning ship, the thrust distribution model under fixed angle allocation model is established；Step 3：The thrust distribution model under the fixed angle allocation model is solved using augmentation Lagrange multiplier algorithm, obtains the actual thrust value of each propeller；Step 4：The actual thrust value of each propeller is converted into corresponding propeller motor speed.The present invention can reduce propeller abrasion.
Description
Technical field
The present invention relates to ship thrust distribution technique fields, and in particular to a kind of fixed angle thrust of dynamic positioning ship
Distribution method.
Background technology
As the mankind go deep into ocean development exploration, the great demand of the energy forces ocean development to enter profundal zone work
Industry, the thing followed are worse marine environment, platform supply vessel, drilling platforms and drilling ship of operation etc. pair in profundal zone
Positioning operation precision and device manipulation condition are more demanding, and traditional mooring system is limited by the depth of water and mobility, realize high
The dynamic positioning technology of precision fixed point positioning is to carry out one of the key technology of ocean development.
Dynamic positioning ship is made of control system, sensor measuring system and propulsion system.Dynamic positioning technology is
Position deviation data is obtained by position sensor, the thrust overcome needed for the environmental loads such as wind, wave, stream is calculated by controller
And torque, realize that ship is held in a predetermined position by propulsion system.Thrust distribution system is important as dynamic positioning ship
Sport technique segment mainly provides the thrust of each propeller according to the power and torque to be allocated required by top level control device, makes ship
The control system for reaching precalculated position and direction, about with Hydrodynamic adjustment between propeller thrust size itself and propeller etc.
Condition premised on beam, the thrust for finding propulsion system energy expenditure minimum distribute combinatorial optimization problem.
Thrust, which is distributed, must take into consideration the physical limit of propeller, to reduce energy consumption and reduce propeller abrasion as target, with
The variable-angle thrust distribution of moment variation propeller angle is compared, and the thrust distribution under fixed angle pattern, which already becomes, to be solved
The better method of the problem, existing method are fixed angle and variable-angle pattern, and fixed angle pattern is merely given as one group
Propeller fixed angle can not be suitable for a variety of thrust distribution conditions, and thrust distribution effects in this case is not very
It is good；And variable-angle pattern is then to change propeller angle according to the target propulsive force moment at the moment, but this mode is to propeller
Abrasion is too big, reduces the service life of propeller.
Invention content
The purpose of the present invention is to provide a kind of fixed angle thrust distribution method of dynamic positioning ship, this method can solve
The problem of certainly displacement control force is distributed under dynamic positioning ship Joystick patterns, to reach the mesh for reducing propeller abrasion
's.
In order to solve the above technical problems, a kind of fixed angle thrust distribution side of dynamic positioning ship disclosed by the invention
Method, which is characterized in that it includes the following steps：
Step 1：Dynamic positioning ship is promoted using 3 all-direction propellers, determination is given by top level control device
The quadrant made belonging to the target propulsive force that ship moves, the quadrant belonging to above-mentioned target propulsive force determines that each full circle swinging promotes
The fixed of device promotes angle；
Step 2：According to the propeller position of dynamic positioning ship, the thrust point under fixed angle allocation model is established
With model；
Step 3：Using augmentation Lagrange multiplier algorithm to the thrust distribution model under the fixed angle allocation model
It is solved, obtains the actual thrust value of each propeller；
Step 4：The actual thrust value of each propeller is converted into corresponding propeller motor speed.
The present invention provides the thrust allocation strategy under a kind of fixed angle, realizes and selects corresponding fixed angle according to control force
Carrying out thrust distribution, (thrust distributes the physical limit that must take into consideration propeller, to reduce energy consumption and reduce propeller abrasion as mesh
Mark, compared with the variable-angle thrust distribution of variation propeller angle constantly, the distribution of thrust under fixed angle pattern already at
For the better method for solving the problems, such as this), it reduces and promotes abrasion and extension thruster life-span.
In addition, compared with the variable-angle pattern of existing thrust distribution, the present invention devises 8 according to target propulsive force
Thrust quadrant can improve propulsive efficiency, effectively to realize that the fixed angle thrust in the case of 8 kinds of thrust is distributed using the method
Lower propeller abrasion.Compared to variable-angle pattern, this method may be implemented when target propulsive force belongs to same quadrant, keep
Propeller angle is constant, because avoiding the thrust loss caused by all-direction propeller moment angle changing to a certain extent,
Therefore propulsive efficiency of the dynamic positioning ship in displacement is improved.Cause is in practical ship motion process, if promoted
The frequent angle changing of device is easy to cause driving motor damage, so most of dynamic positioning ships are attempted to use fixed angle mould
Formula, but the dynamic positioning ship by being tested is full drive propulsion system, and thrust distribution optimization algorithm is made to cannot achieve using one
Fixed angle is organized to solve the problems, such as the target propulsive force of a variety of situations, therefore method proposed by the present invention may be implemented to drive propulsion system entirely
Under fixed angle thrust assignment problem, reduce propeller abrasion while can guarantee again needed for propulsive efficiency and propulsion system
Thrust precision.
Description of the drawings
Fig. 1 is the propeller layout drawing of dynamic positioning ship；
Fig. 2 is dynamic positioning ship fixed angle thrust distribution program block diagram；
Fig. 3 is that Y-direction moves lower thrust allocation result；
Fig. 4 is the thrust variation situation of each propeller under Y-direction movement；
Fig. 5 is the angle change situation of each propeller under Y-direction movement；
Fig. 6 is the thrust allocation result of fixed point location；
Fig. 7 is the propeller thrust situation of change of fixed point location；
Fig. 8 is the propeller angle change situation of fixed point location；
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The fixed angle thrust distribution method of the dynamic positioning ship of the present invention, as shown in Figure 1, it includes the following steps：
Step 1：Dynamic positioning ship is promoted using 3 all-direction propellers, determines what top level control device gave
Quadrant belonging to the target propulsive force of three direction of motion of ship, the quadrant belonging to above-mentioned target propulsive force determine each full circle swinging
The fixed of propeller promotes angle；
Step 2：According to the propeller position of dynamic positioning ship, the thrust point under fixed angle allocation model is established
With model；
Step 3：Using augmentation Lagrange multiplier algorithm to the thrust distribution model under the fixed angle allocation model
It is solved, obtains the actual thrust value of each propeller；
Step 4：The actual thrust value of each propeller is converted into corresponding propeller motor speed.
In the step 1 of above-mentioned technical proposal, the target propulsive force of given three direction of motion of ship of top level control device is determined
The specific method of affiliated quadrant is：
According to the motor pattern of dynamic positioning ship, longitudinal thrust, lateral thrust and bow are positive and negative to thrust in target propulsive force,
And thrust direction angle is closed to determine quadrant where corresponding target propulsive force, the motor pattern of the dynamic positioning ship includes fixed
To Move Mode and fixed point rotary pattern, to close thrust after the longitudinal thrust and lateral thrust combination, direction is to close thrust
Deflection is divided into altogether 8 quadrants, such as following formula：
Displacement pattern：
Fixed point rotary pattern：
Wherein, Quadrant is quadrature；Tx、Ty、TzRespectively longitudinal thrust value, lateral thrust value and bow to thrust magnitude,
α and β is respectively the corresponding quadrant angle of the 7th, 8 quadrants, and symbol indicates and relationship.
In the step 1 of above-mentioned technical proposal, the quadrant belonging to above-mentioned target propulsive force determines each all-direction propeller
The fixed specific method for promoting angle see following formula 1.3：
Wherein, Angle is fixed propulsion angle.
In the step 2 of above-mentioned technical proposal, according to the propeller position of dynamic positioning ship, fixed angle point is established
Specific method with the thrust distribution model under pattern is：
The thrust distribution model under fixed angle allocation model, thrust distribution model are established for fixed angle allocation model
By object function and constraint group of functions at, wherein：
Object function is：
Constraint function is：
S.t Bu=τ (1.5)
In formula, J is object function；S.t indicates constrained；N is propeller number；U is the actual thrust of propeller；θ is
The angle of propeller；uiTo indicate the actual thrust of i-th of propeller；θiThe angle promoted for i-th of propeller；B is for pushing away
The configuring matrix calculated into device thrust；τ is target propulsive force.
In the step 2 of above-mentioned technical proposal, constraint function includes equality constraint and inequality constraints, wherein
Equality constraint is established according to formula (1.5), the relationship obtained between propeller and target propulsive force is as follows：
In formula, θ1For the propulsion angle of first propeller, θ2For the propulsion angle of second propeller, θ3For third
The propulsion angle of propeller, lx1It is coordinate of first propeller in longitudinal direction, lx2Coordinate for second propeller in longitudinal direction,
lx3It is coordinate of the third propeller in longitudinal direction, ly1It is coordinate of first propeller in transverse direction, ly2Exist for second propeller
Lateral coordinate, ly3It is coordinate of the third propeller in transverse direction；Tx、Ty、TzRespectively longitudinal thrust value, lateral thrust value and
Bow is to thrust magnitude；
Inequality constraints is established according to formula (1.5), it is contemplated that the physical constraint of impeller system, such as thrust bound and pushed away
Power change rate, inequality constraints can indicate as follows：
In formula, uiTo indicate that the actual thrust of i-th of propeller, Δ T indicate that the thrust of each propeller in time becomes
Rate；T0For each propeller a upper period thrust；Timax、TiminFor propulsion system i-th of propeller in thrust variation
The maximum thrust and minimum thrust that can be actually sent out under rate limitation；TiMAX、TiMINIt is limited for i-th of propeller physics of propulsion system
The lower maximum thrust and minimum thrust that can be sent out of system；
Equality constraint is established to be expressed as with the thrust Distribution Optimization Model after inequality constraints：
In formula, minJ (u, θ) indicates that the minimum value of object function J (u, θ), equ. indicate that equality constraint, inequ. indicate
Indicate inequality constraints；
The equation constraint is pushing away under fixed angle allocation model with the thrust Distribution Optimization Model after inequality constraints
Power distribution model.
In the step 3 of above-mentioned technical proposal, using augmentation Lagrange multiplier algorithm to the fixed angle allocation model
Under thrust distribution model solved, the detailed process for obtaining the actual thrust value of each propeller is：
Step 301：According to number and the institute arithmetic accuracy to be achieved of equality constraint and inequality constraints, augmentation is determined
The initial value of Lagrange multiplier algorithm, the thrust initial value u when initial value includes loop iteration0, equality constraint multiplies
Subvector μ, multiplier the vector λ, punishment parameter σ of inequality constraints1, the coefficient η of punishment parameter, augmentation Lagrange multiplier algorithm
Arithmetic accuracy ε, decline typical coefficientWith iterations k, whereinη ＞ 1, k=1；
Step 302：With uk-1For initial point, k is iterations, and u is each propeller thrust, solves the pole of minJ (u, θ)
Dot uk；
Step 303：If the output valve β of termination rulesk≤ ε, β are the termination rules in augmentation Lagrange multiplier algorithm
Function then terminates calculating, exports uk, ukFor the actual thrust value of each propeller, 304 are otherwise entered step；
Step 304：Update punishment parameter σ1IfEnable σk+1=η σk, otherwise, σk+1=σk, k is iteration time
Number, βkIndicate the termination rules function in the augmentation Lagrange multiplier algorithm of kth time iteration, βk-1Indicate -1 iteration of kth
Termination rules function in augmentation Lagrange multiplier algorithm, σk+1Indicate the punishment parameter of+1 iteration of kth；
Step 3.5：Multiplier amount is updated as follows：
μk+1=μk+σh(uk) (2.1)
λk+1=max { 0, λk-g(uk)} (2.2)
In formula, μkFor the multiplier vector value of the equality constraint of kth time iteration, μk+1For the equality constraint of kth+1 iteration
Multiplier vector value, λkFor the multiplier vector value of the inequality constraints of kth time iteration, λk+1For the inequality constraints of+1 iteration of kth
Multiplier vector value, h (uk) it is above-mentioned equality constraint value, g (uk) be above-mentioned inequality constraints value.
The propeller parameter of 1 dynamic positioning ship of table
| Propeller | Maximum thrust (N) | Thrust variation rate (N/s) | Propeller position (m) |
| No. 1 full circle swinging | 6.62 | 3 | (-0.69,0.185) |
| No. 2 full circle swingings | 11.71 | 3 | (-0.7,-0.18) |
| No. 3 full circle swingings | 12.88 | 3 | (0.89,0) |
The experiment that the present invention is done is given below, experimental configuration is as shown in table 2.
The thrust of 2 dynamic positioning ship of table distributes experimental configuration
Method proposed by the present invention is verified using C language, through the invention used method, by power and torque
3 propellers effectively are assigned to, experimental result is as shown in Fig. 3~8.Fig. 3~5 are to carry out Y-direction under Joystick patterns to move
Thrust distribute experimental result, Fig. 3 can be seen that the X of feedback, the thrust that the thrust on tri- directions Y, Z is required with control system
Substantially it coincide.Fig. 4 is the actual thrust situation of change of propeller, and thrust distribution is carried out under fixed angle pattern and is calculated, is respectively pushed away
Into device thrust in feasible region.Fig. 5 be propeller angle actual change situation, it can be seen that propeller direction change compared with
Slowly, it realizes and propeller angle is determined according to the case where control force.Fig. 6~8 are the thrust distribution knot of ship fixed point location experiment
Fruit is analyzed the X fed back by Fig. 6, and the thrust on tri- directions Y, Z basically reaches target propulsive force, and Fig. 7 is 3 propellers
Actual thrust situation of change, Fig. 8 are propeller angle actual change situation, because control force variation needed for positioning is more frequent, are pushed away
Change therewith into device fixed angle, but kept stable.The above experimental verification validity of proposition method of the present invention, avoids
The frequent variation of propeller angle reduces propeller abrasion.
The present invention proposes for dynamic positioning ship, to solve the thrust assignment problem of oriented control power, Yi Zhonggu
Determine the thrust distribution system under angle mode.From the point of view of experimental result, the method applied in the present invention can efficiently by surging,
Swaying and yawing Torque distribution give each propeller, the basic held stationary of angle of propeller to avoid the frequency of propeller angle
Numerous variation improves thrust execution efficiency, effectively increases the response speed of dynamic positioning ship.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of fixed angle thrust distribution method of dynamic positioning ship, which is characterized in that it includes the following steps：
Step 1：Dynamic positioning ship is promoted using 3 all-direction propellers, determines the given ship of top level control device
Quadrant belonging to the target propulsive force of three direction of motion, the quadrant belonging to above-mentioned target propulsive force determine that each full circle swinging promotes
The fixed of device promotes angle；
Step 2：According to the propeller position of dynamic positioning ship, the thrust distribution mould under fixed angle allocation model is established
Type；
Step 3：The thrust distribution model under the fixed angle allocation model is carried out using augmentation Lagrange multiplier algorithm
It solves, obtains the actual thrust value of each propeller；
Step 4：The actual thrust value of each propeller is converted into corresponding propeller motor speed.
2. the fixed angle thrust distribution method of dynamic positioning ship according to claim 1, it is characterised in that：The step
In rapid 1, determine that the specific method of the quadrant belonging to the target propulsive force of given three direction of motion of ship of top level control device is：
According to the motor pattern of dynamic positioning ship, longitudinal thrust, lateral thrust and bow are positive and negative to thrust in target propulsive force, and
Thrust direction angle is closed to determine quadrant where corresponding target propulsive force, the motor pattern of the dynamic positioning ship includes that orientation is moved
To close thrust after dynamic model formula and fixed point rotary pattern, the longitudinal thrust and lateral thrust combination, direction is to close thrust direction
Angle is divided into altogether 8 quadrants, such as following formula：
Displacement pattern：
Fixed point rotary pattern：
Wherein, Quadrant is quadrature；Tx、Ty、TzRespectively longitudinal thrust value, lateral thrust value and bow is to thrust magnitude, α and β
Respectively the 7th, the corresponding quadrant angle of 8 quadrants, symbol indicates and relationship.
3. the fixed angle thrust distribution method of dynamic positioning ship according to claim 1, it is characterised in that：The step
In rapid 1, the quadrant belonging to above-mentioned target propulsive force determines the fixed specific method for promoting angle of each all-direction propeller
See following formula 1.3：
Wherein, Angle is fixed propulsion angle.
4. the fixed angle thrust distribution method of dynamic positioning ship according to claim 1, it is characterised in that：The step
In rapid 2, according to the propeller position of dynamic positioning ship, the thrust distribution model under fixed angle allocation model is established
Specific method is：
The thrust distribution model under fixed angle allocation model is established for fixed angle allocation model, thrust distribution model is by mesh
Scalar functions and constraint group of functions at, wherein：
Object function is：
Constraint function is：
S.t Bu=τ (1.5)
In formula, J is object function；S.t indicates constrained；N is propeller number；U is the actual thrust of propeller；θ is to promote
The angle of device；uiTo indicate the actual thrust of i-th of propeller；θiThe angle promoted for i-th of propeller；B is for propeller
The configuring matrix that thrust calculates；τ is target propulsive force.
5. the fixed angle thrust distribution method of dynamic positioning ship according to claim 4, it is characterised in that：The step
In rapid 2, constraint function includes equality constraint and inequality constraints, wherein
Equality constraint is established according to formula (1.5), the relationship obtained between propeller and target propulsive force is as follows：
In formula, θ1For the propulsion angle of first propeller, θ2For the propulsion angle of second propeller, θ3It is promoted for third
The propulsion angle of device, lx1It is coordinate of first propeller in longitudinal direction, lx2It is coordinate of second propeller in longitudinal direction, lx3For
Third propeller is in longitudinal coordinate, ly1It is coordinate of first propeller in transverse direction, ly2It is second propeller in transverse direction
Coordinate, ly3It is coordinate of the third propeller in transverse direction；Tx、Ty、TzRespectively longitudinal thrust value, lateral thrust value and bow to
Thrust magnitude；
Inequality constraints is established according to formula (1.5), it is contemplated that the physical constraint of impeller system, inequality constraints can indicate such as
Under：
In formula, uiTo indicate that the actual thrust of i-th of propeller, Δ T indicate the thrust variation rate of each propeller in time；
T0For each propeller a upper period thrust；Timax、TiminIt is limited in thrust variation rate for i-th of propeller of propulsion system
The maximum thrust and minimum thrust that can be actually sent out under system；TiMAX、TiMINFor under i-th of propeller physical limit of propulsion system
The maximum thrust and minimum thrust that can be sent out；
Equality constraint is established to be expressed as with the thrust Distribution Optimization Model after inequality constraints：
In formula, min J (u, θ) indicate that the minimum value of object function J (u, θ), equ. indicate that equality constraint, inequ. indicate
Inequality constraints；
The equation constraint and the thrust point that the thrust Distribution Optimization Model after inequality constraints is under fixed angle allocation model
With model.
6. the fixed angle thrust distribution method of dynamic positioning ship according to claim 5, it is characterised in that：The step
In rapid 3, the thrust distribution model under the fixed angle allocation model is solved using augmentation Lagrange multiplier algorithm,
The detailed process for obtaining the actual thrust value of each propeller is：
Step 301：According to number and the institute arithmetic accuracy to be achieved of equality constraint and inequality constraints, augmentation glug is determined
The initial value of bright day Multiplier Algorithm, the thrust initial value u when initial value includes loop iteration0, the multiplier of equality constraint to
Measure μ, multiplier the vector λ, punishment parameter σ of inequality constraints1, the coefficient η of punishment parameter, the calculation of augmentation Lagrange multiplier algorithm
Method precision ε declines typical coefficientWith iterations k, whereinη ＞ 1, k=1；
Step 302：With uk-1For initial point, k is iterations, and u is each propeller thrust, solves the minimal point of minJ (u, θ)
uk；
Step 303：If the output valve β of termination rulesk≤ ε, β are the termination rules function in augmentation Lagrange multiplier algorithm,
Calculating is then terminated, u is exportedk, ukFor the actual thrust value of each propeller, 304 are otherwise entered step；
Step 304：Update punishment parameter σ1IfEnable σk+1=η σk, otherwise, σk+1=σk, k is iterations, βk
Indicate the termination rules function in the augmentation Lagrange multiplier algorithm of kth time iteration, βk-1Indicate the augmentation of -1 iteration of kth
Termination rules function in Lagrange multiplier algorithm, σk+1Indicate the punishment parameter of+1 iteration of kth；
Step 3.5：Multiplier amount is updated as follows：
μk+1=μk+σh(uk) (2.1)
λk+1=max { 0, λk-g(uk)} (2.2)
In formula, μkFor the multiplier vector value of the equality constraint of kth time iteration, μk+1For the multiplier of the equality constraint of+1 iteration of kth
Vector value, λkFor the multiplier vector value of the inequality constraints of kth time iteration, λk+1Multiply for the inequality constraints of kth+1 iteration
Subvector value, h (uk) it is above-mentioned equality constraint value, g (uk) be above-mentioned inequality constraints value.
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| CN109799705A (en) * | 2019-01-01 | 2019-05-24 | 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） | A kind of thrust distribution method reducing the abrasion of dynamic positioning marine propeller |
| CN109901402A (en) * | 2019-04-08 | 2019-06-18 | 哈尔滨工程大学 | A kind of autonomous underwater robot path following method based on course smoothing technique |
| WO2020252725A1 (en) * | 2019-06-20 | 2020-12-24 | 陈勇贵 | Method and apparatus for hull control by cooperation of multiple propellers, device and storage medium |
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