CN109799705B - Thrust distribution method for reducing wear of dynamic positioning ship propeller - Google Patents
Thrust distribution method for reducing wear of dynamic positioning ship propeller Download PDFInfo
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- CN109799705B CN109799705B CN201910000052.1A CN201910000052A CN109799705B CN 109799705 B CN109799705 B CN 109799705B CN 201910000052 A CN201910000052 A CN 201910000052A CN 109799705 B CN109799705 B CN 109799705B
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Abstract
The invention discloses a thrust distribution method for reducing the wear of a dynamic positioning ship propeller, which comprises the steps of firstly establishing a mathematical model of thrust distribution according to the arrangement condition of the dynamic positioning ship propeller, then solving the mathematical model of thrust distribution by using a quadratic programming algorithm to obtain the magnitude and the direction of the thrust of each propeller, then calculating the difference value between each propeller angle in the last distribution period and the current distributed propeller angle, comparing the difference value with the specified threshold value, if the difference value is greater than the threshold value, outputting the magnitude and the direction of the current thrust, if the difference value is less than the specified threshold value, keeping the azimuth angle of the propeller unchanged, reestablishing the mathematical model of thrust distribution to carry out the quadratic thrust distribution, and recalculating the magnitude and the direction of the thrust of each propeller. The thrust distribution method provided by the invention can effectively avoid frequent rotation of the full-rotation propeller, thereby reducing the abrasion of the propeller and prolonging the service life of the propeller.
Description
Technical Field
The invention belongs to a ship dynamic positioning system, and particularly relates to a thrust distribution method for reducing abrasion of a full-rotation propeller in the dynamic positioning system.
Background
The current dynamic positioning system has wide application in ocean engineering ships, and becomes an indispensable system for developing and utilizing deep sea resources. The traditional anchoring and positioning system is limited by the depth of water and the maneuverability of a ship, and cannot meet the requirements of deep-sea positioning operation of the ship or a platform. The dynamic positioning system can utilize the thrust generated by the propeller to offset the external environment force, so that the ship or the platform is kept at a preset position or track, and the dynamic positioning system has the advantages of no limitation of water depth, high positioning precision and good maneuverability.
The thrust distribution is an important component of the dynamic positioning system, the main function of the thrust distribution is to quickly find the optimal combination of the thrust and the angle of each propeller in a limited time to meet the resultant force and the moment required by the controller, and the performance of the thrust distribution directly influences the accuracy, the stability and the maneuverability of the marine operation positioning of the dynamic positioning ship or the dynamic positioning platform.
Dynamic positioning boats and ships or platform can equip a plurality of full gyration propellers usually, because marine environment is complicated changeable, in order to satisfy the requirement of control power and moment, under variable angle mode, adopt traditional thrust distribution method, full gyration propeller needs frequent quick transform angle to the slewer that leads to full gyration propeller wearing and tearing seriously, reduces the life of propeller, and then influences the economic nature of dynamic positioning boats and ships or platform operation.
Disclosure of Invention
The invention aims to provide a thrust distribution method for reducing the abrasion of a dynamic positioning ship propeller, which can avoid frequent small-angle rotation of a full-rotation propeller and reduce the abrasion of the propeller on the premise of ensuring the positioning precision of a ship or a platform, thereby prolonging the service life of the propeller.
The technical scheme adopted by the invention for solving the technical problems is as follows: a thrust distribution method for reducing the abrasion of a dynamic positioning ship propeller comprises the following steps.
Step 1, establishing a mathematical model of thrust distribution according to the arrangement condition of a propeller of a dynamic positioning ship;
step 3, calculating the difference value of the azimuth angles of the propellers in the last distribution period and the current distribution period i =α 0i -α 1i Angle difference of azimuth angle of i And the specified threshold delta, if alpha i If the value is larger than or equal to delta, directly outputting the magnitude and direction of the currently distributed thrust;
step 4, Δ - i <And delta, keeping the azimuth angle of each propeller unchanged, reestablishing a mathematical model of thrust distribution, performing secondary thrust distribution, calculating the magnitude and direction of the thrust of each propeller, and outputting a thrust distribution result.
Further, in step 4, based on the azimuth angle of each propeller in the previous distribution cycle, the following thrust distribution mathematical model is newly built by comprehensively considering the physical constraints of the propulsion system for the purposes of reducing the fuel consumption of the ship and improving the positioning accuracy:
s.t
in the formula (I), the compound is shown in the specification,
representing the magnitude of the thrust of each propeller; weight matrix
A weight matrix representing thrust of each thruster;
representing the deviation of the desired control force and the actual distributed moment in three degrees of freedom of the dynamically positioned vessel or platform; weight matrix
A penalty weight representing the thrust bias,
the usual values are large enough to ensure that the deviation of the actual distributed forces and moments from the desired control forces and moments approaches zero;
an upper limit value indicating thrust;
represents a lower limit value of the thrust;
representing a thrust rate of change;
a lower limit value indicating a thrust change rate;
an upper limit value indicating a thrust change rate;
indicating the angle of each pusher of the previous dispensing cycle.
The invention has the beneficial effects that: the thrust distribution method provided by the invention can effectively avoid frequent rotation of the full-rotation propeller, thereby reducing the abrasion of the propeller and prolonging the service life of the propeller.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of a propeller arrangement demonstrating the present invention;
FIG. 3 is a control force and moment provided by an upper controller of the dynamic positioning system;
fig. 4 is a comparison of the variation of the azimuth angle of the thruster using the conventional thrust distribution method and the distribution method of the present invention, respectively.
Detailed Description
In order to facilitate the understanding of the effectiveness of the technical solution implemented by the present invention, the timely solution of the present invention is further described with reference to the following examples.
The thrust distribution method for reducing the wear of the dynamic positioning ship propeller is shown in a flow chart of fig. 1, and specifically comprises the following steps:
step 1, establishing a mathematical model of thrust distribution according to the arrangement condition of a propeller of a dynamic positioning ship;
step 3, calculating the difference value between each propeller angle of the last distribution period and the current distribution propeller angle, comparing the difference value with the specified threshold value, and outputting the current thrust magnitude and direction if the difference value is greater than the threshold value;
and 4, if the difference value is smaller than the specified threshold value, keeping the azimuth angle of the propeller unchanged, reestablishing a mathematical model of thrust distribution to perform secondary thrust distribution, and recalculating the magnitude and direction of the thrust of each propeller.
The essence of the problem is an optimization problem with constraint conditions, considering that the dynamic positioning system has high real-time requirements, the thrust distribution model can be solved by adopting a quadratic programming algorithm to obtain the magnitude and direction of the thrust of each propeller, and finally, the thrust distribution result is output.
In step 4, based on the azimuth angle of each propeller in the last distribution period, the following thrust distribution mathematical model is newly built by comprehensively considering the physical constraints of the propulsion system with the purposes of reducing the fuel consumption of the ship and improving the positioning accuracy:
s.t．
in the formula (I), the compound is shown in the specification,
representing the magnitude of the thrust of each propeller; weight matrix
A weight matrix representing thrust of each thruster;
representing the deviation of the desired control force and the actual distributed moment in three degrees of freedom of the dynamically positioned vessel or platform; weight matrix
A penalty weight representing the thrust bias,
the values are typically large enough to ensure that the forces and forces actually dispensedThe deviation of the moment from the desired control force and moment approaches zero;
an upper limit value indicating thrust;
represents a lower limit value of the thrust;
representing a thrust rate of change;
a lower limit value indicating a thrust change rate;
an upper limit value indicating a thrust change rate;
indicating the angle of each pusher of the previous dispensing cycle.
Weight matrix in this embodiment
(ii) a Weight matrix
；
=49.05；
=0；
Representing a thrust rate of change;
=0；
= 10; the threshold value phi = 4.
Fig. 2 is a schematic diagram for verifying the arrangement structure of the propeller of the present invention, and the present invention is explained by using the present ship model as a calculation object. The technical parameters of each propeller of the ship model are shown in the following table 1:
by usingmatlabThe simulation platform verifies the method provided by the invention, and FIG. 3 shows the expected control force and moment distributed by the upper controller of the dynamic positioning system; fig. 4 shows a comparison of the azimuth angle changes of the propeller using the conventional thrust distribution method and the thrust distribution method proposed by the present invention, and it can be known that the thrust distribution method proposed by the present invention can effectively prevent the full-circle-rotation propeller from frequently rotating, thereby reducing the wear of the propeller and prolonging the service life of the propeller.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (1)
1. A thrust distribution method for reducing the abrasion of a dynamic positioning ship propeller is characterized in that: the method comprises the following steps:
step 1, establishing a mathematical model of thrust distribution according to the arrangement condition of a propeller of a dynamic positioning ship;
step 2, solving the thrust distribution mathematical model by using a quadratic programming algorithm to obtain the thrust magnitude and direction of each propeller;
step 3, calculating the difference value of the azimuth angles of the propellers in the last distribution period and the current distribution period i =α 0i -α 1i Angle difference of azimuth angle of i And the specified threshold delta, if alpha i If the value is larger than or equal to delta, directly outputting the magnitude and direction of the currently distributed thrust;
step 4, Δ - i <Delta, keeping the azimuth angle of each propeller unchanged, reestablishing a mathematical model of thrust distribution, performing secondary thrust distribution, calculating the magnitude and direction of the thrust of each propeller, and outputting a thrust distribution result; based on the azimuth angle of each thruster in the previous distribution period, a following thrust distribution mathematical model is newly established:
s.t
in the formula (I), the compound is shown in the specification,
representing the magnitude of the thrust of each propeller; weight matrix
A weight matrix representing thrust of each thruster;
representing the deviation of the desired control force and the actual distributed moment in three degrees of freedom of the dynamically positioned vessel or platform; weight matrix
A penalty weight representing the thrust bias,
the values are typically large enough to ensure that the deviation of the actual distributed forces and moments from the desired control forces and moments approaches zero；
An upper limit value indicating thrust;
represents a lower limit value of the thrust;
representing a thrust rate of change;
a lower limit value indicating a thrust change rate;
an upper limit value indicating a thrust change rate;
indicating the angle of each pusher of the previous dispensing cycle.
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| 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 |
| CN115994456B (en) * | 2023-03-21 | 2023-06-06 | 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 |
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