CN109799705A - A kind of thrust distribution method reducing the abrasion of dynamic positioning marine propeller - Google Patents
A kind of thrust distribution method reducing the abrasion of dynamic positioning marine propeller Download PDFInfo
- Publication number
- CN109799705A CN109799705A CN201910000052.1A CN201910000052A CN109799705A CN 109799705 A CN109799705 A CN 109799705A CN 201910000052 A CN201910000052 A CN 201910000052A CN 109799705 A CN109799705 A CN 109799705A
- Authority
- CN
- China
- Prior art keywords
- thrust
- propeller
- indicate
- distribution
- size
- 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.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of thrust distribution methods of reduction dynamic positioning marine propeller abrasion, first according to the propeller deployment scenarios of dynamic positioning ship, establish the mathematical model of thrust distribution, then the thrust distribution mathematical model is solved using Novel Algorithm, obtain the thrust size and Orientation of each propeller, each propeller angle of last assignment period and the difference of current distribution pusher angle are calculated again, compare the size of difference and defined threshold, if difference is greater than threshold value, then export current thrust size and Orientation, if difference is less than defined threshold value, then keep the azimuth of propeller constant, the mathematical model for re-establishing thrust distribution carries out secondary thrust distribution, recalculate the thrust size and Orientation of each propeller.Using thrust distribution method proposed by the invention it is possible to prevente effectively from all-direction propeller rotates frequently, so as to reduce the abrasion of propeller, the service life of propeller is provided.
Description
Technical field
The invention belongs to reduce all-direction propeller in Ship Dynamic Positioning Systems Based more particularly to a kind of dynamic positioning system
The thrust distribution method of abrasion.
Background technique
Current power positioning system is very widely used on ocean engineering ship, and it is deep to have become development and utilization
The indispensable system of extra large resource.Traditional anchoring system by the depth of water and ship manoeuverability due to being limited, Bu Nengman
The needs of sufficient ship or platform deep-sea positioning operation.And dynamic positioning system can use the thrust of self-propelled device generation to support
The external environment that disappears power, thus make ship or platform be held in a predetermined position or track on, have do not limited by the depth of water, positioning accuracy
Advantage high, mobility is good.
Thrust distribution is the important component of dynamic positioning system, and major function is quickly to look within the limited time
Combination to the optimal thrust and angle of each propeller meets resultant force required by controller and torque, and the quality of performance is straight
Connect the accuracy for influencing dynamic positioning ship or platform operation on the sea positioning, stability and control.
Dynamic positioning ship or platform would generally equip multiple all-direction propellers, since marine environment is complicated and changeable, be
The requirement for meeting control force and torque, under variable-angle mode, using traditional thrust distribution method, all-direction propeller
It needs frequently quickly to convert angle and reduces making for propeller so as to cause the slewing equipment serious wear of all-direction propeller
With the service life, and then influence the economy of dynamic positioning ship or platform operation.
Summary of the invention
The purpose of the present invention is to provide a kind of thrust distribution methods of reduction dynamic positioning marine propeller abrasion, are protecting
Under the premise of demonstrate,proving ship or platform positioning accuracy, propeller can be reduced to avoid the frequent Small-angle Rotation of all-direction propeller
Abrasion, to improve the service life of propeller.
The technical solution adopted by the present invention to solve the technical problems is: a kind of reduction dynamic positioning marine propeller abrasion
Thrust distribution method, include the following steps.
Step 1, according to the propeller deployment scenarios of dynamic positioning ship, the mathematical model of thrust distribution is established；
Step 2, the thrust distribution mathematical model is solved using Novel Algorithm, obtains the thrust of each propeller
Size and Orientation；
Step 3, the difference α of last assignment period and each propeller orientation angles of current assignment period is calculated i =α 0i -α 1i , right
Than azimuth angle difference α i With the size of defined threshold δ, if α i >=δ, then directly export the thrust size currently distributed and
Direction；
Step 4, if α i < δ then keeps the azimuth of each propeller constant, re-establishes the mathematical model of thrust distribution, carries out
Secondary thrust distribution, calculates the thrust size and Orientation of each propeller, then thrust output allocation result.
Further, in the step 4, based on the azimuth of each propeller of last assignment period, to reduce marine fuel oil
For the purpose of consumption and raising positioning accuracy, the physical constraint of propulsion system is comprehensively considered, create lower thrust such as and distribute mathematical model:
s.t
In formula,Indicate the thrust size of each propeller；Weight matrixIndicate that each propeller pushes away
The weight matrix of power；It indicates it is expected that control force and reality distribute torque on dynamic positioning ship or platform three degree of freedom
Deviation；Weight matrixIndicate the punishment weight of thrust deflexion,Common value wants sufficiently large, with
Guarantee the deviation approach and zero of the power actually distributed and torque and desired control force and torque；Indicate the upper limit of thrust
Value；Indicate the lower limit value of thrust；Indicate thrust variation rate；Indicate the lower limit value of thrust variation rate；Table
Show the upper limit value of thrust variation rate；Indicate the angle of each propeller of previous assignment period.
The beneficial effects of the present invention are: using thrust distribution method proposed by the invention it is possible to prevente effectively from full circle swinging pushes away
It is rotated frequently into device, so as to reduce the abrasion of propeller, provides the service life of propeller.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is verifying propeller arragement construction schematic diagram of the invention；
Fig. 3 is the control force and torque that dynamic positioning system upper controller provides；
Fig. 4 is the propeller azimuthal variation comparison that traditional thrust distribution method and distribution method of the present invention is respectively adopted.
Specific embodiment
In order to which the validity of technical solution for realizing the present invention is easy to understand, in conjunction with following Examples to of the invention timely
Scheme further instruction.
The present invention reduces the thrust distribution method process of dynamic positioning marine propeller abrasion as shown in Figure 1, specifically including
Following steps:
Step 1, according to the propeller deployment scenarios of dynamic positioning ship, the mathematical model of thrust distribution is established；
Step 2, the thrust distribution mathematical model is solved using Novel Algorithm, obtains the thrust of each propeller
Size and Orientation；
Step 3, calculate each propeller angle of last assignment period and the difference of current distribution pusher angle, comparison difference with
The size of defined threshold exports current thrust size and Orientation if difference is greater than threshold value；
Step 4, it if difference is less than defined threshold value, keeps the azimuth of propeller constant, re-establishes the number of thrust distribution
It learns model and carries out secondary thrust distribution, recalculate the thrust size and Orientation of each propeller.
The essence of the problem is the optimization problem of a with constraint conditions, it is contemplated that dynamic positioning system wants real-time
It asks very high, above-mentioned thrust distribution model can be solved using Novel Algorithm, obtain size and the side of each propeller thrust
To last thrust output allocation result.
In step 4, based on the azimuth of each propeller of last assignment period, to reduce marine fuel oil consumption and improve positioning
For the purpose of precision, the physical constraint of propulsion system is comprehensively considered, create lower thrust such as and distribute mathematical model:
S.t.
In formula,Indicate the thrust size of each propeller；Weight matrixIndicate that each propeller pushes away
The weight matrix of power；It indicates it is expected that control force and reality distribute torque on dynamic positioning ship or platform three degree of freedom
Deviation；Weight matrixIndicate the punishment weight of thrust deflexion,Common value wants sufficiently large, with
Guarantee the deviation approach and zero of the power actually distributed and torque and desired control force and torque；Indicate the upper limit of thrust
Value；Indicate the lower limit value of thrust；Indicate thrust variation rate；Indicate the lower limit value of thrust variation rate；Table
Show the upper limit value of thrust variation rate；Indicate the angle of each propeller of previous assignment period.
Weight matrix in the present embodiment；Weight matrix；=49.05；=0；Indicate thrust variation rate；=0；=10；Threshold value φ=4.
Fig. 2 is the arragement construction schematic diagram for verifying propeller of the present invention, is carried out using this ship model as computing object to the present invention
It illustrates.The technical parameter of each propeller of this ship model is as shown in table 1 below:
UsingmatlabEmulation platform verifies method proposed by the present invention, and Fig. 3 expression is controlled by dynamic positioning system upper layer
The desired control power and torque of device distribution processed；Fig. 4 is indicated using traditional thrust distribution method and is used thrust proposed by the present invention
The propeller azimuthal variation of distribution method compares, and as seen from the figure, can be had using thrust distribution method proposed by the invention
Effect avoids all-direction propeller from rotating frequently, and so as to reduce the abrasion of propeller, provides the service life of propeller.
Specific embodiment described herein only illustrate the spirit of the present invention by way of example.The technical field of the invention
Technical staff can do the similar mode of various modify or supplement or adopts to described specific embodiment and substitute, but simultaneously
Spirit or beyond the scope defined by the appended claims of the invention is not deviated by.
Claims (2)
1. a kind of thrust distribution method for reducing the abrasion of dynamic positioning marine propeller, characterized by the following steps:
Step 1, according to the propeller deployment scenarios of dynamic positioning ship, the mathematical model of thrust distribution is established；
Step 2, the thrust distribution mathematical model is solved using Novel Algorithm, obtains the thrust of each propeller
Size and Orientation；
Step 3, the difference α of last assignment period and each propeller orientation angles of current assignment period is calculated i =α 0i -α 1i , comparison
Azimuth angle difference α i With the size of defined threshold δ, if α i >=δ then directly exports the thrust size currently distributed and side
To；
Step 4, if α i < δ then keeps the azimuth of each propeller constant, re-establishes the mathematical model of thrust distribution, carries out
Secondary thrust distribution, calculates the thrust size and Orientation of each propeller, then thrust output allocation result.
2. a kind of thrust distribution method for reducing the abrasion of dynamic positioning marine propeller according to claim 1, feature
It is, in the step 4, based on the azimuth of each propeller of last assignment period, creates lower thrust such as and distribute mathematical model:
s.t
In formula,Indicate the thrust size of each propeller；Weight matrixIndicate each propeller thrust
Weight matrix；It indicates it is expected that control force and reality distribute the inclined of torque on dynamic positioning ship or platform three degree of freedom
Difference；Weight matrixIndicate the punishment weight of thrust deflexion,Common value wants sufficiently large, to protect
Confirm the power of border distribution and the deviation approach and zero of torque and desired control force and torque；Indicate the upper limit value of thrust；Indicate the lower limit value of thrust；Indicate thrust variation rate；Indicate the lower limit value of thrust variation rate；It indicates
The upper limit value of thrust variation rate；Indicate the angle of each propeller of previous assignment period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000052.1A CN109799705B (en) | 2019-01-01 | 2019-01-01 | Thrust distribution method for reducing wear of dynamic positioning ship propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000052.1A CN109799705B (en) | 2019-01-01 | 2019-01-01 | Thrust distribution method for reducing wear of dynamic positioning ship propeller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109799705A true CN109799705A (en) | 2019-05-24 |
| CN109799705B CN109799705B (en) | 2022-01-14 |
Family
ID=66558301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910000052.1A Active CN109799705B (en) | 2019-01-01 | 2019-01-01 | Thrust distribution method for reducing wear of dynamic positioning ship propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109799705B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947060A (en) * | 2019-12-11 | 2021-06-11 | 中国科学院沈阳自动化研究所 | Thrust distribution optimization method for three-dimensional dynamic positioning of underwater robot |
| CN115994456A (en) * | 2023-03-21 | 2023-04-21 | 中国船舶集团有限公司第七〇七研究所 | Full-rotation propeller thrust attenuation processing method for ship thrust distribution |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050080522A1 (en) * | 2002-05-20 | 2005-04-14 | Kawasaki Jukogyo Kabushiki Kaisha | Method and device for allocating thrust |
| CN102841970A (en) * | 2012-09-21 | 2012-12-26 | 上海交通大学 | Dynamic positioning thrust distributing device adopting dynamic prohibiting angle and distributing method thereof |
| CN103092077A (en) * | 2013-01-06 | 2013-05-08 | 中国海洋石油总公司 | Thrust distributing method of dynamic positioning system |
| CN108116646A (en) * | 2017-12-29 | 2018-06-05 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of watercraft electric propulsion system |
| CN108333926A (en) * | 2018-01-19 | 2018-07-27 | 武汉理工大学 | The fixed angle thrust distribution method of dynamic positioning ship |
| CN108845576A (en) * | 2018-06-28 | 2018-11-20 | 中国船舶重工集团公司第七0七研究所 | A kind of thrust distribution method based on population in conjunction with sequential quadratic programming |
-
2019
- 2019-01-01 CN CN201910000052.1A patent/CN109799705B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050080522A1 (en) * | 2002-05-20 | 2005-04-14 | Kawasaki Jukogyo Kabushiki Kaisha | Method and device for allocating thrust |
| CN102841970A (en) * | 2012-09-21 | 2012-12-26 | 上海交通大学 | Dynamic positioning thrust distributing device adopting dynamic prohibiting angle and distributing method thereof |
| CN103092077A (en) * | 2013-01-06 | 2013-05-08 | 中国海洋石油总公司 | Thrust distributing method of dynamic positioning system |
| CN108116646A (en) * | 2017-12-29 | 2018-06-05 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of watercraft electric propulsion system |
| CN108333926A (en) * | 2018-01-19 | 2018-07-27 | 武汉理工大学 | The fixed angle thrust distribution method of dynamic positioning ship |
| CN108845576A (en) * | 2018-06-28 | 2018-11-20 | 中国船舶重工集团公司第七0七研究所 | A kind of thrust distribution method based on population in conjunction with sequential quadratic programming |
Non-Patent Citations (11)
| Title |
|---|
| VSKSLER A，等: "Thrust allocation with power management functionality on dynamically positioned vessel", 《2012 AMERICAN CONTROL CONFERENCE》 * |
| ZHOU X，XU H X: "Optimal constrained thrust allocation for ship dynamic positioning system under changeable environments", 《THE 25 INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE》 * |
| 刘凯，等: "动力定位船舶推力优化分配研究", 《船电技术|应用研究》 * |
| 周兴: "推力分配干扰区域处理策略研究", 《船电技术|应用研究》 * |
| 张文彬，等: "基于二次规划法的动力定位能力分析研究", 《船电技术|应用研究》 * |
| 徐海祥，等: "自适应组合偏置推力分配算法", 《武汉理工大学学报（交通科学与工程版）》 * |
| 朱梦飞，徐海祥: "基于固定角度模式的推力优化分配", 《武汉理工大学学报（交通科学与工程版）》 * |
| 王芳: "过驱动水面航行器的控制分配技术研究", 《万方数据库》 * |
| 陈亚豪，等: "截断重分配组合偏置推力分配算法", 《大连理工大学学报》 * |
| 魏玉石: "船舶动力定位***推力估计与推力分配研究", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 鲍鹏，罗旋: "舰船中压直流综合电力推进***稳态分析研究", 《船电技术|应用研究》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947060A (en) * | 2019-12-11 | 2021-06-11 | 中国科学院沈阳自动化研究所 | Thrust distribution optimization method for three-dimensional dynamic positioning of underwater robot |
| CN115994456A (en) * | 2023-03-21 | 2023-04-21 | 中国船舶集团有限公司第七〇七研究所 | Full-rotation propeller thrust attenuation processing method for ship thrust distribution |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109799705B (en) | 2022-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108845576B (en) | Thrust distribution method based on combination of particle swarm optimization and sequence quadratic programming | |
| CN106773722B (en) | A kind of thrust force distribution method of power location system of ship based on artificial fish-swarm algorithm | |
| CN109683479B (en) | Dynamic positioning thrust distribution device and method based on artificial neural network | |
| CN109799705A (en) | A kind of thrust distribution method reducing the abrasion of dynamic positioning marine propeller | |
| CN108490946A (en) | A kind of marine power positioning control method | |
| CN103092077A (en) | Thrust distributing method of dynamic positioning system | |
| CN105807610B (en) | Adaptive weight matrix weights puppet reverse thrust distribution towards Ship Dynamic Positioning Systems Based and saturated process method | |
| CN106527133A (en) | Multi-paddle coordination control distribution method for ship | |
| CN108333926B (en) | Fixed angle thrust distribution method of dynamic positioning ship | |
| CN105204506A (en) | Dynamic positioning ship pipe laying tracking guiding method | |
| CN107729641A (en) | A kind of dynamic positioning capability analysis method for ocean engineering field | |
| CN103482034B (en) | A kind of floating type gas platforms | |
| WO2016007076A1 (en) | Multi-turbine wind power platform for offshore applications | |
| CN102841970B (en) | Dynamic positioning thrust distributing device adopting dynamic prohibiting angle and distributing method thereof | |
| CN116627043B (en) | Regional power positioning control method of combined anchoring system | |
| CN107741744B (en) | Optimal heading control method for ocean observation platform | |
| CN109747784A (en) | Ship marine worker journey single point mooring anchor paddle combination and cooperation positioning system and method | |
| CN103116363B (en) | Photovoltaic generator track of sun tracking and system | |
| CN113359737A (en) | Ship formation self-adaptive event trigger control method considering formation expansion | |
| CN111176292B (en) | Wave glider path tracking control method based on side margin | |
| CN108958252A (en) | A kind of power buoy flight tracking control method based on course-line deviation distance | |
| Fu et al. | Research on thrust allocation of dynamic positioning ship with cycloidal propeller | |
| CN109343353A (en) | A kind of intelligent optimization method for the distribution of dynamic positioning ship thrust | |
| CN204871481U (en) | Semi -submerged formula platform power positioning system | |
| CN111324037A (en) | Thrust allocation method based on combination of genetic algorithm and simulated annealing algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |