CAJ | 학술논문

推力分配系统对动力定位系统的定位性能起决定性作用。文章提出了一种有效的动力定位系统推力分配最优化方法，将推进系统的能耗、推进器的磨损、推力误差、奇异结构避免作为目标函数。同时考虑推进器的推力极限、最大推力变化速率、最大旋转速率等因素，将推力分配转化为带有非线性约束的非线性最优化问题，从而利用非线性最优化求解算法求得最优解。为了验证所提出的推力分配优化方法的有效性，开展了风、浪、流作用下的模型试验。试验结果表明所提出的推力分配优化算法是有效的。
추력분배계통대동력정위계통적정위성능기결정성작용。문장제출료일충유효적동력정위계통추력분배최우화방법，장추진계통적능모、추진기적마손、추력오차、기이결구피면작위목표함수。동시고필추진기적추력겁한、최대추력변화속솔、최대선전속솔등인소，장추력분배전화위대유비선성약속적비선성최우화문제，종이이용비선성최우화구해산법구득최우해。위료험증소제출적추력분배우화방법적유효성，개전료풍、랑、류작용하적모형시험。시험결과표명소제출적추력분배우화산법시유효적。
The thrust allocation plays an important role for the performance of Dynamic Positioning (DP) system. In this paper, an optimal method of thrust allocation is proposed by formulating nonlin-ear optimization problems with constrains. Minimizing the power consumption, reducing the tear and wear of thruster and avoiding singular configuration are considered. The other aspects of the thrust allocation are also taken into account, such as the physical limitations on admissible thrusts and az-imuth angles of the thrusters. In order to validate the effectiveness of the thrust allocation, a model experiment equipped with azimuth thrusters was carried out under the action of wind, current and waves. The experimental results indicate that the proposed optimal method of thrust allocation is very efficient and satisfactory performance of station and heading keeping is observed.