CN108333926B - Fixed angle thrust distribution method of dynamic positioning ship - Google Patents

Fixed angle thrust distribution method of dynamic positioning ship Download PDF

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CN108333926B
CN108333926B CN201810052459.4A CN201810052459A CN108333926B CN 108333926 B CN108333926 B CN 108333926B CN 201810052459 A CN201810052459 A CN 201810052459A CN 108333926 B CN108333926 B CN 108333926B
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thrust
propeller
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CN108333926A (en
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冯辉
刘梦佳
徐海祥
余文曌
韩鑫
廖刚
周志杰
卢林枫
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Wuhan University of Technology WUT
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Abstract

The invention relates to a fixed angle thrust distribution method of a dynamic positioning ship, which comprises the following steps: step 1: adopting 3 full-rotation propellers to propel the dynamic positioning ship, determining quadrants to which target thrust of the ship in three motion directions given by an upper layer controller belongs, and determining a fixed propelling angle of each full-rotation propeller according to the quadrants to which the target thrust belongs; step 2: establishing a thrust distribution model under a fixed angle distribution mode according to the arrangement position of a propeller of the dynamic positioning ship; and step 3: solving the thrust distribution model under the fixed angle distribution mode by using an augmented Lagrange multiplier algorithm to obtain the actual thrust value of each thruster; and 4, step 4: and converting the actual thrust value of each propeller into the corresponding propeller motor rotating speed. The invention can reduce the abrasion of the propeller.

Description

Fixed angle thrust distribution method of dynamic positioning ship
Technical Field
The invention relates to the technical field of ship thrust distribution, in particular to a fixed angle thrust distribution method of a dynamic positioning ship.
Background
With the deep exploration of ocean development by human beings, the huge demand of energy sources forces the ocean development to enter the operation of a deep water area, the severer ocean environment follows, the requirements on positioning operation precision and equipment operation conditions are higher for a platform supply ship, a drilling platform, a drilling ship and the like which operate in the deep water area, the traditional anchoring system is limited by water depth and maneuverability, and the dynamic positioning technology for realizing high-precision positioning is one of key technologies for ocean development.
The dynamic positioning ship consists of a control system, a sensor measuring system and a propulsion system. The dynamic positioning technology is that position deviation data is obtained through a position sensor, thrust and moment required by overcoming environmental loads such as wind, waves and flow are calculated through a controller, and the ship is kept at a preset position through a propulsion system. The thrust distribution system is used as an important technical link of dynamically positioning the ship, mainly provides thrust of each propeller according to-be-distributed force and moment required by an upper controller, so that the ship reaches a control system of a preset position and direction, and seeks a thrust distribution combination optimization problem with minimum energy consumption of the propulsion system on the premise of constraints such as the thrust of the propellers, hydrodynamic interference among the propellers and the like.
The thrust distribution must consider the physical restriction of the propeller, in order to reduce energy consumption and reduce the propeller wearing and tearing as the goal, compare with variable angle thrust distribution of the propeller angle of change constantly, the thrust distribution under the fixed angle mode has already become the better method to solve the problem, the existing method is fixed angle and variable angle mode, the fixed angle mode only gives a series of fixed angles of propeller, can't be suitable for many thrust distribution situations, the thrust distribution effect under this situation is not very good; the variable angle mode is to change the angle of the propeller constantly according to the target thrust, but the mode causes too much wear to the propeller and reduces the service life of the propeller.
Disclosure of Invention
The invention aims to provide a fixed angle thrust distribution method of a dynamic positioning ship, which can solve the problem of directional movement control force distribution of the dynamic positioning ship in a Joystick mode so as to achieve the aim of reducing the abrasion of a propeller.
In order to solve the technical problem, the invention discloses a fixed angle thrust distribution method of a dynamic positioning ship, which is characterized by comprising the following steps:
step 1: adopting 3 full-rotation propellers to propel the dynamic positioning ship, determining a quadrant to which a target thrust given by an upper controller for moving the ship belongs, and determining a fixed propelling angle of each full-rotation propeller according to the quadrant to which the target thrust belongs;
step 2: establishing a thrust distribution model under a fixed angle distribution mode according to the arrangement position of a propeller of the dynamic positioning ship;
and step 3: solving the thrust distribution model under the fixed angle distribution mode by using an augmented Lagrange multiplier algorithm to obtain the actual thrust value of each thruster;
and 4, step 4: and converting the actual thrust value of each propeller into the corresponding propeller motor rotating speed.
The invention provides a thrust distribution strategy under a fixed angle, which realizes thrust distribution according to a control force by selecting a corresponding fixed angle (the thrust distribution needs to consider the physical limitation of a propeller to reduce energy consumption and reduce the wear of the propeller.
In addition, compared with the existing variable angle mode of thrust distribution, the method has the advantages that 8 thrust quadrants are designed according to the target thrust to realize fixed angle thrust distribution under the condition of 8 thrust, and by adopting the method, the propelling efficiency can be improved, and the abrasion of the propeller can be effectively reduced. Compared with a variable angle mode, the method can keep the angle of the propeller unchanged when the target thrust belongs to the same quadrant, and avoid thrust loss caused by the fact that the angle of the full-rotation propeller changes constantly to a certain extent, so that the propelling efficiency of the dynamic positioning ship in directional movement is improved. In the actual ship movement process, if the propeller frequently changes the angle, the driving motor is easily damaged, most dynamic positioning ships try to adopt a fixed angle mode, but because the tested dynamic positioning ships are full-drive propulsion systems, the thrust distribution optimization algorithm cannot solve the target thrust problem of various conditions by adopting a group of fixed angles, so the method provided by the invention can realize the fixed angle thrust distribution problem under the full-drive propulsion system, reduce the abrasion of the propeller and ensure the propulsion efficiency and the thrust precision required by the propulsion system.
Drawings
FIG. 1 is a layout view of a thruster of a dynamically positioned vessel;
FIG. 2 is a block diagram of a dynamic positioning fixed angle thrust distribution process for a vessel;
FIG. 3 shows the result of the distribution of the downward thrust in the Y direction;
FIG. 4 shows the thrust variation of each thruster in the Y-direction movement;
FIG. 5 shows the angle change of each pusher in the Y-direction movement;
FIG. 6 shows the thrust allocation results for fixed-point positioning;
FIG. 7 is a thrust variation of a fixed-point positioned propeller;
FIG. 8 illustrates a variation in propeller angle for fixed point positioning;
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention discloses a fixed angle thrust distribution method of a dynamic positioning ship, which comprises the following steps as shown in figure 1:
step 1: adopting 3 full-rotation propellers to propel the dynamic positioning ship, determining quadrants to which target thrust of the ship in three motion directions given by an upper layer controller belongs, and determining a fixed propelling angle of each full-rotation propeller according to the quadrants to which the target thrust belongs;
step 2: establishing a thrust distribution model under a fixed angle distribution mode according to the arrangement position of a propeller of the dynamic positioning ship;
and step 3: solving the thrust distribution model under the fixed angle distribution mode by using an augmented Lagrange multiplier algorithm to obtain the actual thrust value of each thruster;
and 4, step 4: and converting the actual thrust value of each propeller into the corresponding propeller motor rotating speed.
In step 1 of the above technical solution, a specific method for determining a quadrant to which target thrusts in three motion directions of a ship given by an upper controller belong is as follows:
determining quadrants corresponding to the target thrust according to the motion mode of the dynamic positioning ship, positive and negative longitudinal thrust, transverse thrust and heading thrust in the target thrust and a combined thrust direction angle, wherein the motion mode of the dynamic positioning ship comprises a directional movement mode and a fixed point rotation mode, the combined longitudinal thrust and transverse thrust is combined to form the combined thrust, the direction of the combined thrust is the combined thrust direction angle, and the combined thrust is divided into 8 quadrants as follows:
directional movement mode:
Figure BDA0001552754340000041
fixed point rotation mode:
Figure BDA0001552754340000042
wherein, Quadrant is the Quadrant value; t isx、Ty、TzRespectively, a longitudinal thrust value, a lateral thrust value and a heading thrust value, α and β are quadrant angles and signs corresponding to quadrants 7 and 8 respectively&Representing and relating.
In step 1 of the above technical solution, a specific method for determining a fixed propulsion angle of each full-circle propeller according to a quadrant to which the target thrust belongs is shown in the following formula 1.3:
Figure BDA0001552754340000043
wherein Angle is a fixed propulsion Angle.
In step 2 of the above technical solution, a specific method for establishing a thrust distribution model in a fixed angle distribution mode according to the arrangement position of a thruster of a dynamically positioned vessel is as follows:
establishing a thrust distribution model under the fixed angle distribution mode aiming at the fixed angle distribution mode, wherein the thrust distribution model consists of a target function and a constraint function, and the method comprises the following steps of:
the objective function is:
Figure BDA0001552754340000051
the constraint function is:
s.t B·u＝τ (1.5)
wherein J is an objective function; s.t denotes constrained; n is the number of the propellers; u is the actual thrust of the propeller; theta is the angle of the propeller; u. ofiIs to represent the actual thrust of the ith propeller; thetaiThe angle of propulsion for the ith propeller; b is a configuration matrix for calculating the thrust of the propeller; τ is the target thrust.
In step 2 of the above technical solution, the constraint function includes an equality constraint and an inequality constraint, wherein,
the equality constraint is established according to equation (1.5), and the relationship between the propeller and the target thrust is obtained as follows:
Figure BDA0001552754340000052
Figure BDA0001552754340000053
in the formula, theta1Is the propulsion angle of the first propeller, theta2Is the propulsion angle of the second propeller, theta3The propulsion angle of the third propeller, /)x1As the longitudinal coordinate of the first propeller, /)x2As a coordinate of the second propeller in the longitudinal direction,/x3As a coordinate of the third propeller in the longitudinal direction,/y1As the coordinate of the first propeller in the transverse direction,/y2As a coordinate of the second propeller in the transverse direction,/y3The coordinates of the third propeller in the transverse direction; t isx、Ty、TzRespectively a longitudinal thrust value, a transverse thrust value and a heading thrust value;
an inequality constraint is established according to equation (1.5), and considering physical constraints of the propeller system, such as an upper thrust limit, a lower thrust limit and a thrust change rate, the inequality constraint can be expressed as follows:
Figure BDA0001552754340000061
Figure BDA0001552754340000062
in the formula uiIn order to represent the actual thrust of the ith propeller, Δ T represents the thrust change rate of each propeller over time; t is0Thrust for each thruster in the previous cycle; t isimax、TiminThe maximum thrust and the minimum thrust which can be actually sent out by the ith propeller of the propulsion system under the limit of the thrust change rate; t isiMAX、TiMINThe maximum thrust and the minimum thrust which can be sent out under the physical limitation of the ith propeller of the propulsion system;
the thrust distribution optimization model after the equality constraint and the inequality constraint is established is expressed as follows:
Figure BDA0001552754340000063
Figure BDA0001552754340000064
wherein minJ (u, θ) represents the minimum value of the objective function J (u, θ), equ represents the equality constraint, and inequ represents the inequality constraint;
and the thrust distribution optimization model after the equality constraint and the inequality constraint is the thrust distribution model under the fixed angle distribution mode.
In step 3 of the above technical scheme, the specific process of obtaining the actual thrust value of each thruster by solving the thrust distribution model in the fixed angle distribution mode by using the augmented lagrange multiplier algorithm is as follows:
step 301: determining an initial value of the augmented Lagrange multiplier algorithm according to the number of equality constraints and inequality constraints and the algorithm precision to be achieved, wherein the initial value comprises an initial thrust value u in the process of loop iteration0A multiplier vector mu of equality constraint, a multiplier vector lambda of inequality constraint, a penalty parameter sigma1Punishment parameter coefficient η, increasing algorithm precision of Lagrange multiplier algorithm, and reducing standard coefficient
Figure BDA0001552754340000071
And a number of iterations k, wherein,
Figure BDA0001552754340000072
η＞1，k＝1；
step 302: by uk-1As an initial point, k is the number of iterations, u is the thrust of each propeller, and the minimum point u of minJ (u, theta) is solvedk；
Step 303, if the rule output value β is terminatedkβ is equal to or less than the end rule function in the augmented Lagrange multiplier algorithm, the calculation is ended, and u is outputk，ukActual thrust values of the thrusters are obtained, otherwise, the step 304 is carried out;
step 304: updating the penalty parameter sigma1If, if
Figure BDA0001552754340000073
Let sigmak+1＝ησkOtherwise, σk+1＝σkK is the number of iterations βkTo representTermination rule function in the augmented Lagrange multiplier algorithm for the kth iteration, βk-1Termination rule function, σ, in augmented Lagrange multiplier algorithm representing the k-1 iterationk+1A penalty parameter representing the (k + 1) th iteration;
step 3.5: the multiplier is updated as follows:
μk+1＝μk+σh(uk) (2.1)
λk+1＝max{0,λk-g(uk)} (2.2)
in the formula, mukFor the equality-constrained multiplier vector value, μ, of the kth iterationk+1For the equality-constrained multiplier vector value, λ, of the k +1 th iterationkA multiplier vector value, λ, of an inequality constraint for the kth iterationk+1The multiplier vector value of the inequality constraint for the (k + 1) th iteration, h (u)k) For the above equality constraint value, g (u)k) Is the value of the inequality constraint described above.
TABLE 1 Propeller parameters for dynamically positioned watercraft
Propeller Maximum thrust (N) Thrust rate of change (N/s) Thruster position (m)
No. 1 full rotation 6.62 3 (-0.69,0.185)
Number 2 full revolution 11.71 3 (-0.7,-0.18)
No. 3 full rotation 12.88 3 (0.89,0)
The experiments performed by the present invention are given below, and the experimental configuration is shown in table 2.
TABLE 2 thrust distribution experimental configuration for dynamically positioned vessels
Figure BDA0001552754340000074
Figure BDA0001552754340000081
The method provided by the invention is verified by adopting C language, force and moment are effectively distributed to 3 propellers by the method, and the experimental result is shown in figures 3-8. Fig. 3 to 5 show the results of the thrust distribution experiment for Y-direction movement in the journal mode, and fig. 3 shows that the feedback thrust in the three directions X, Y, and Z substantially matches the thrust required by the control system. Fig. 4 shows the actual thrust variation of the thrusters, and the thrust distribution calculation is performed in the fixed angle mode, and the thrust of each thruster is within the feasible range. Fig. 5 shows the actual change condition of the propeller angle, and it can be seen that the propeller direction changes slowly, and the propeller angle can be determined according to the condition of the control force. Fig. 6 to 8 are thrust distribution results of a ship fixed-point positioning experiment, the thrust in the three directions of X, Y and Z fed back by the analysis of fig. 6 basically reaches the target thrust, fig. 7 is the actual thrust change situation of 3 thrusters, and fig. 8 is the actual change situation of the thruster angle, and the fixed angle of the thruster changes along with the change of the control force required for positioning, but basically keeps stable. The experiments verify the effectiveness of the method provided by the invention, avoid frequent change of the angle of the propeller and reduce the abrasion of the propeller.
The invention provides a thrust distribution system in a fixed angle mode, which aims at a dynamic positioning ship and solves the thrust distribution problem of directional control force. From experimental results, the method can efficiently distribute the surging, swaying and yawing moments to the propellers, the angles of the propellers are basically kept stable, frequent changes of the angles of the propellers are avoided, the thrust execution efficiency is improved, and the response speed of the dynamically positioned ship is effectively improved.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.

Claims (1)

1. A fixed angle thrust distribution method of a dynamic positioning ship is characterized by comprising the following steps:
step 1: adopting 3 full-rotation propellers to propel the dynamic positioning ship, determining quadrants to which target thrust of the ship in three motion directions given by an upper layer controller belongs, and determining a fixed propelling angle of each full-rotation propeller according to the quadrants to which the target thrust belongs;
step 2: establishing a thrust distribution model under a fixed angle distribution mode according to the arrangement position of a propeller of the dynamic positioning ship;
and step 3: solving the thrust distribution model under the fixed angle distribution mode by using an augmented Lagrange multiplier algorithm to obtain the actual thrust value of each thruster;
and 4, step 4: converting the actual thrust value of each propeller into the corresponding propeller motor rotating speed;
in the step 3, the thrust distribution model under the fixed angle distribution mode is solved by using an augmented lagrange multiplier algorithm, and the specific process of obtaining the actual thrust value of each propeller is as follows:
step 301: determining the augmented Lagrange multiplication according to the number of equality constraints and inequality constraints and the algorithm precision to be achievedInitial values of the sub-algorithms, including an initial value u of thrust in a loop iteration0A multiplier vector mu of equality constraint, a multiplier vector lambda of inequality constraint, a penalty parameter sigma1Punishment parameter coefficient η, increasing algorithm precision of Lagrange multiplier algorithm, and reducing standard coefficient
Figure FDA0002563883270000013
And a number of iterations k, wherein,
Figure FDA0002563883270000011
η＞1，k＝1；
step 302: by uk-1As an initial point, k is the number of iterations, u is the thrust of each propeller, and the minimum point u of minJ (u, theta) is solvedk；
Step 303, if the rule output value β is terminatedkβ is equal to or less than the end rule function in the augmented Lagrange multiplier algorithm, the calculation is ended, and u is outputk，ukActual thrust values of the thrusters are obtained, otherwise, the step 304 is carried out;
step 304: updating the penalty parameter sigma1If, if
Figure FDA0002563883270000012
Let sigmak+1＝ησkOtherwise, σk+1＝σkK is the number of iterations βkTermination rule function in the augmented Lagrange multiplier algorithm representing the kth iteration, βk-1Termination rule function, σ, in augmented Lagrange multiplier algorithm representing the k-1 iterationk+1A penalty parameter representing the (k + 1) th iteration;
step 305: the multiplier is updated as follows:
μk+1＝μk+σh(uk)
λk+1＝max{0,λk-g(uk)}
in the formula, mukFor the equality-constrained multiplier vector value, μ, of the kth iterationk+1Equation for the (k + 1) th iterationMultiplier vector value of beam, lambdakA multiplier vector value, λ, of an inequality constraint for the kth iterationk+1The multiplier vector value of the inequality constraint for the (k + 1) th iteration, h (u)k) For the above equality constraint value, g (u)k) Is the value of the above inequality constraint;
in the step 1, a specific method for determining the fixed propulsion angle of each full-circle-turning propeller according to the quadrant to which the target thrust belongs is shown in the following formula:
Figure FDA0002563883270000021
wherein Angle is a fixed propulsion Angle corresponding to 3 propellers in different thrust states, and quadrirange is an image limit value.
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CN109799705B (en) * 2019-01-01 2022-01-14 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） Thrust distribution method for reducing wear of dynamic positioning ship propeller
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