CAJ | 학술논문

针对船舶动力定位系统推力分配中舵桨组合的推力建模及优化分配问题，将舵桨组合的非凸推力区域转化成4个凸区域，采用切换控制理论把非线性最优化问题转换为线性最优化问题。将舵、桨组合起来进行推力建模，以最小推力、舵角变化和推力误差为优化目标，对推进器的推力变化率、舵角变化率、推力误差范围和推力大小作了约束，采用多边形的方法把推力范围约束转化为线性不等式约束，基于总功率与总推力误差在不同推力区域设计了切换逻辑，实现了在不同的推力分配器中的切换。实船试验结果表明舵桨组合推力模型及推力分配策略是切实可行的，满足了推力分配的要求，在配备舵的动力定位船上具有良好的应用前景。
침대선박동력정위계통추력분배중타장조합적추력건모급우화분배문제，장타장조합적비철추력구역전화성4개철구역，채용절환공제이론파비선성최우화문제전환위선성최우화문제。장타、장조합기래진행추력건모，이최소추력、타각변화화추력오차위우화목표，대추진기적추력변화솔、타각변화솔、추력오차범위화추력대소작료약속，채용다변형적방법파추력범위약속전화위선성불등식약속，기우총공솔여총추력오차재불동추력구역설계료절환라집，실현료재불동적추력분배기중적절환。실선시험결과표명타장조합추력모형급추력분배책략시절실가행적，만족료추력분배적요구，재배비타적동력정위선상구유량호적응용전경。
To solve the problem of thrust modeling and nonlinear optimization for propeller-rudder pairs in thrust allocation of dynamic positioning vessels, the non-convex thrust region can be converted into four convex polyhedral sets and Switch Control can be adopted to transform the nonlinear optimization problem into a linear one. Extended thrust can be used in modeling the propeller-rudder thrust with the minimum thrust, rudder angle change and thrust error as the optimization goal, which constrains rate of change of the propeller thrust and rudder angle, error range and magnitude of the propeller thrust. The application of a polygon can convert constrains of thrust range into linear inequality constraints, and switch logic can be de-signed based on the error in total power and total thrust in the process of switching in different thrust ar-eas. Results of the ship trials demonstrate that the proposed thrust modeling and thrust allocation scheme can meet the requirements of thrust allocation, which is feasible and has a good application prospect.