CN110794682A - Thrust distribution method for multi-propeller rotatable ship - Google Patents
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Abstract
The invention provides a thrust distribution method for a rotatable multi-propeller ship, which comprises the steps of firstly establishing a ship three-degree-of-freedom thrust distribution model, then establishing a multi-objective optimization objective function and constraint conditions related to propeller energy consumption, mechanical wear, singularity and thrust error, and finally solving the provided problem by utilizing an improved fast non-dominated genetic algorithm with an elite reservation strategy. The advantages are that: the energy consumption and the mechanical loss of the propulsion system can be effectively reduced, and the precision of ship control can be ensured.
Description
Technical Field
Relates to the field of ship control, in particular to a thrust distribution method for a rotatable multi-propeller ship.
Background
The rotatable propeller can rotate around an axis, can obtain maximum thrust in any direction, and can enable the ship to rotate in situ, move transversely, retreat rapidly and other special driving operations. The rotary propeller is suitable for various engineering ships, such as tugboats, floating crane ships, dredge ships, ferries, flat-bottomed boats for operation and the like, and has wide market application prospect and military significance. In order to improve the maneuverability, efficiency and system reliability of these engineering vessels, more than two propellers are typically provided. On one hand, however, due to the interaction of the ship navigation inertia force and the propeller thrust, the propulsion operation state of the multi-propeller presents asymmetric and irregular power disturbance characteristics, and the superposition of the irregular characteristics of the propellers also brings difficulty to the ship course control; on the other hand, the propulsion load fluctuates severely under the action of sea conditions, so that the power distribution among the propellers is greatly unbalanced, which brings difficulty to the speed control of the ship. Therefore, how to accurately distribute the thrust and angle of each rotatable propeller becomes a critical issue.
Disclosure of Invention
The invention provides a thrust distribution method for a rotary multi-propeller ship, which comprises the steps of firstly establishing a ship three-degree-of-freedom thrust distribution model according to conditions, then establishing a multi-objective optimization objective function and constraint conditions related to propeller energy consumption, abrasion, singularity and thrust error, and finally solving the provided problem by utilizing an improved rapid non-dominated multi-objective optimization algorithm with an elite reservation strategy.
The method mainly comprises the following steps:
step 1, establishing a three-degree-of-freedom thrust distribution model;
the motions in the heave, roll and pitch directions are ignored, and the ship dynamics model of the three-degree-of-freedom motions in the heave, roll and yaw directions can be summarized as follows:
wherein η ═ x, y, ψ]TFor vessels in the geodetic coordinate system XEOYEActual position vector of, ηdIs the desired position vector. v ═ u, v, r]TIs the actual velocity vector v under the hull coordinate system XOYdIs the desired velocity vector. R (psi) is a rotation matrix, M is an inertia matrix of the hull, C (v) represents a Coriolis centripetal force matrix, and D (v) is a damping matrix. Tau is the actual resultant force generated by the ship propulsion systemAnd resultant moment, τdThe desired resultant force and resultant moment.
For a ship equipped with a rotatable multi-propeller, tau consists of the working state and thrust structure of the propeller:
τ=B(α)f=B(α)[f1,f2,f3,f4]T(3)
wherein B (α) ∈ R3×4A thrust structural matrix, f is a thrust matrix formed by the thrust of each propeller, fiIs the thrust of propeller i. The thrust structure matrixes of the full-rotation propeller and the ducted propeller are respectively Bazi(αi) And Btun:
B(α)=[Bazi(α1),Bazi(α2),Bazi(α3),Btun](5)
i is the number of propeller, i is 1,2,3,4, αiIs the angle of the propeller i. li=[lxi,lyi]TFor the position coordinates of the propeller i mounted on the hull under the hull coordinate system XOY,/xiIs the X coordinate of propeller i, lyiIs the Y coordinate of propeller i.
Step 2, establishing a thrust distribution constraint condition;
wherein the maximum output forward thrust and the maximum output reverse thrust of the propeller i are respectively fimaxAnd fimin,fi0Is the thrust generated by the propeller i of the preceding step, fiα, the thrust at the present timeiminAnd αimaxUpper and lower limits of propeller rotation angle, α respectivelyi0Angle of propeller i of the previous step, αiIs the angle of the propeller at the present moment. Δ fiminAnd Δ fimaxLower and upper limits, respectively, of the rate of change of thrust of propeller i. Δ αiminAnd Δ αimaxRespectively, the lower limit and the upper limit of the rate of change of the angle of the propeller i.
Step 3, establishing a thrust distribution optimization target;
wherein, PwFor the overall power consumption of the multiple propellers, ciIs the power coefficient of propeller i; j. the design is a squareeAnd the thrust error penalty term is obtained, s is the error between the actual thrust and the ideal thrust, and Q is the weight matrix of the error penalty term. J. the design is a squareΩAnd omega is a weight matrix of the angle change penalty term. J. the design is a squaresThe matrix is a singular structure punishment item, delta is a weight matrix of the singular structure punishment item, and epsilon is a constant.
Step 4, solving a thrust distribution objective function by using an improved fast non-dominated sorting genetic algorithm with an elite retention strategy, and comprising the following substeps:
4-1) selecting the angle and the thrust of the propeller as decision variables, and designing a chromosome Ch ═ { f1,f2,f3,f4,α1,α2,α3}; initializing population, generating parent population P with population size NtAnd the initial value of t is 0;
4-2) Pair of parent population PtPerforming polynomial mutation to generate progeny population Qt;
4-3) the parent population PtAnd the offspring population QtPerforming fusion to obtain a temporary fusion population Rt;
4-4) to RtPerforming fast non-dominant sequencing to obtain different pareto frontiers Fj. N individuals in the population are divided into at most N pareto fronts, i.e., j ═ 1,2.. N;
4-5) for each leading edge FjIn descending order of the crowding distance, crowding distance DkThe calculation method of (c) is as follows:
wherein, | FjL is the leading edge FjNumber of individuals in (a).
4-6)Pt+1Has no individuals in the initial population of (1). Selection of FjIs a first N-Pt+1Put in Pt+1In (1). If Fj+Pt+1<N,Pt+1=Pt+1∪FjJ equals j +1, go back to execution 4-4); otherwise, returning to execute 4-5);
4-7)Gmaxfor the maximum algebra of evolution, if t is greater than or equal to GmaxOutputting an optimal solution set, and finishing an optimization algorithm; otherwise, t is t +1, and P is addedtPerforming cross and differential variation operation to generate a population QtAnd step 4-3) is executed in a circulating way until the end. The differential variation mode is as follows:
Qt=βPbest+(1-β)Pt(9)
wherein β ∈ [0,1 ]],PbestIs a leading edge F1The best individual in (1).
The method has the following effects and advantages:
the thrust obtained by the proposed thrust distribution method does not frequently jump, and the accurate tracking of the expected force and moment of the ship can be realized. The thrust distribution method controls the angle of the propeller not to be changed repeatedly, and avoids the mechanical abrasion of the propelling device; the energy consumption of the propulsion system can be effectively reduced, and the accuracy and the real-time performance of ship control can be ensured.
Drawings
FIG. 1 is a schematic view of thrust distribution for a multi-propeller vessel
FIG. 2 is a schematic view of a multi-propeller distribution
FIG. 3 is a flow chart of an improved fast non-dominated sorting genetic algorithm with elite retention strategy
Detailed Description
The invention provides a thrust distribution method for a rotary multi-propeller ship, which comprises the steps of firstly establishing a ship three-degree-of-freedom thrust distribution model according to conditions, then establishing a multi-objective optimization objective function and constraint conditions related to propeller energy consumption, abrasion, singularity and thrust error, and finally solving the provided problem by utilizing an improved rapid non-dominated multi-objective optimization algorithm with an elite reservation strategy. The method comprises the following steps:
step 1, establishing a three-degree-of-freedom thrust distribution model;
the motions in the heave, roll and pitch directions are ignored, and the ship dynamics model of the three-degree-of-freedom motions in the heave, roll and yaw directions can be summarized as follows:
wherein η ═ x, y, ψ]TFor vessels in the geodetic coordinate system XEOYEActual position vector of, ηdIs the desired position vector. v ═ u, v, r]TIs the actual velocity vector v under the hull coordinate system XOYdIs the desired velocity vector. R (psi) is a rotation matrix, M is an inertia matrix of the hull, C (v) represents a Coriolis centripetal force matrix, and D (v) is a damping matrix. Tau is the actual resultant force and resultant moment generated by the ship propulsion system, taudThe desired resultant force and resultant moment.
As shown in fig. 1, the purpose of the thrust force distribution algorithm is to distribute the control force and moment calculated by the ship motion controller to each propeller so that the actual resultant force and resultant moment τ generated by each propeller can satisfy τd。
For a ship equipped with rotatable multiple propellers, the arrangement of the propellers is shown in fig. 2, and tau is composed of the working state and the thrust structure of the propellers:
τ=B(α)f=B(α)[f1,f2,f3,f4]T(3)
wherein B (α) ∈ R3×4A thrust structural matrix, f is a thrust matrix formed by the thrust of each propeller, fiIs the thrust of propeller i. The ducted propeller is pushed by the fixed direction of the ducted propellerThe force structure matrix is only related to the position of the propeller. The thrust structure matrixes of the full-rotation propeller and the ducted propeller are respectively Bazi(αi) And Btun:
B(α)=[Bazi(α1),Bazi(α2),Bazi(α3),Btun](5)
i is the number of propeller, i is 1,2,3,4, αiIs the angle of the propeller i. li=[lxi,lyi]TFor the position coordinates of the propeller i mounted on the hull under the hull coordinate system XOY,/xiIs the X coordinate of propeller i, lyiIs the Y coordinate of propeller i.
Step 2, establishing a thrust distribution constraint condition;
wherein the maximum output forward thrust and the maximum output reverse thrust of the propeller i are respectively fimaxAnd fimin,fi0Is the thrust generated by the propeller i of the preceding step, fiα, the thrust at the present timeiminAnd αimaxUpper and lower limits of propeller rotation angle, α respectivelyi0Angle of propeller i of the previous step, αiIs the angle of the propeller at the present moment. Δ fiminAnd Δ fimaxLower and upper limits, respectively, of the rate of change of thrust of propeller i, Δ αiminAnd Δ αimaxRespectively, the lower limit and the upper limit of the rate of change of the angle of the propeller i.
Step 3, establishing a thrust distribution optimization target;
wherein, PwFor the overall power consumption of the multiple propellers, ciBeing propellers iA power coefficient; j. the design is a squareeAnd the thrust error penalty term is obtained, s is the error between the actual thrust and the ideal thrust, and Q is the weight matrix of the error penalty term. J. the design is a squareΩAnd omega is a weight matrix of the angle change penalty term. J. the design is a squaresThe matrix is a singular structure punishment item, delta is a weight matrix of the singular structure punishment item, and epsilon is a constant. The aim of the thrust distribution is to reduce the overall power consumption of the ship propeller and to avoid mechanical wear and singular thrust structures, while ensuring sufficiently small thrust errors.
And 4, solving a thrust distribution objective function by using an improved fast non-dominated sorting genetic algorithm with an elite retention strategy, wherein the flow chart of the algorithm is shown in FIG. 3. Step 4 comprises the following substeps:
4-1) selecting the angle and the thrust of the propeller as decision variables, and designing a chromosome Ch ═ { f1,f2,f3,f4,α1,α2,α3}; initializing population, generating parent population P with population size NtAnd the initial value of t is 0;
4-2) Pair of parent population PtPerforming polynomial mutation to generate progeny population Qt;
4-3) the parent population PtAnd the offspring population QtPerforming fusion to obtain a temporary fusion population Rt;
4-4) to RtPerforming fast non-dominant sequencing to obtain different pareto frontiers Fj. N individuals in the population are divided into at most N pareto fronts, i.e., j ═ 1,2.. N;
4-5) for each leading edge FjIn descending order of the crowding distance, crowding distance DkThe calculation method of (c) is as follows:
wherein, | FjL is the leading edge FjNumber of individuals in (a).
4-6)Pt+1Has no individuals in the initial population of (1). Selection of FjIs a first N-Pt+1Put in Pt+1In (1). If Fj+Pt+1<N,Pt+1=Pt+1∪FjJ equals j +1, go back to execution 4-4); otherwise, returning to execute 4-5);
4-7)Gmaxfor the maximum algebra of evolution, if t is greater than or equal to GmaxOutputting an optimal solution set, and finishing an optimization algorithm; otherwise, t is t +1, and P is addedtPerforming cross and differential variation operation to generate a population QtAnd step 4-3) is executed in a circulating way until the end. The differential variation mode is as follows:
Qt=βPbest+(1-β)Pt(9)
wherein β ∈ [0,1 ]],PbestIs a leading edge F1The best individual in (1).
Claims (1)
1. A thrust force distribution method for a rotatable multi-propeller ship, characterized by:
step 1, establishing a three-degree-of-freedom thrust distribution model;
the motions in the heave, roll and pitch directions are ignored, and the ship dynamics model of the three-degree-of-freedom motions in the heave, roll and yaw directions can be summarized as follows:
wherein η ═ x, y, ψ]TFor vessels in the geodetic coordinate system XEOYEThe actual position vector of the lower one,first derivative of η, ηdIs a desired position vector; v ═ u, v, r]TIs the actual speed vector under the hull coordinate system XOY,is the first derivative of v, vdIs a desired velocity vector; r (psi) is a rotation matrix, M is an inertia matrix of the ship body, C (v) represents a Coriolis centripetal force matrix, and D (v) is a damping matrix; tau is the actual resultant force and resultant moment generated by the ship propulsion system, taudThe desired resultant force and resultant moment;
for a ship equipped with a rotatable multi-propeller, tau consists of the working state and thrust structure of the propeller:
τ=B(α)f=B(α)[f1,f2,f3,f4]T(3)
wherein B (α) ∈ R3×4A thrust structural matrix, f is a thrust matrix formed by the thrust of each propeller, fiIs the thrust of propeller i; the thrust structure matrixes of the full-rotation propeller and the ducted propeller are respectively Bazi(αi) And Btun:
B(α)=[Bazi(α1),Bazi(α2),Bazi(α3),Btun](5)
i is the number of propeller, i is 1,2,3,4, αiIs the angle of the propeller i; li=[lxi,lyi]TFor the position coordinates of the propeller i mounted on the hull under the hull coordinate system XOY,/xiIs the X coordinate of propeller i, lyiIs the Y coordinate of propeller i;
step 2, establishing a thrust distribution constraint condition;
wherein the maximum output forward thrust and the maximum output reverse thrust of the propeller i are respectively fimaxAnd fimin,fi0Is the thrust generated by the propeller i of the preceding step, fiIs the thrust at the present moment αiminAnd αimaxAre respectively a screwUpper and lower limits of propeller rotation angle, αi0Angle of propeller i of the previous step, αiIs the angle of the propeller at the present moment; Δ fiminAnd Δ fimaxLower and upper limits, respectively, of the rate of change of thrust of propeller i, Δ αiminAnd Δ αimaxRespectively, the lower limit and the upper limit of the angle change rate of the propeller i;
step 3, establishing a thrust distribution optimization target;
wherein, PwFor the overall power consumption of the multiple propellers, ciIs the power coefficient of propeller i; j. the design is a squareeA thrust error punishment item is obtained, s is an error between actual thrust and ideal thrust, and Q is a weight matrix of the error punishment item; j. the design is a squareΩThe weight matrix is an angle change penalty term, and omega is a weight matrix of the angle change penalty term; j. the design is a squaresThe matrix is a singular structure punishment item, delta is a weight matrix of the singular structure punishment item, and epsilon is a constant;
step 4, solving a thrust distribution objective function by using an improved fast non-dominated sorting genetic algorithm with an elite retention strategy, and comprising the following substeps:
4-1) selecting the angle and the thrust of each propeller as decision variables to design a chromosome; initializing population, generating parent population P with population size NtAnd the initial value of t is 0;
4-2) Pair of parent population PtPerforming polynomial mutation to generate progeny population Qt;
4-3) the parent population PtAnd the offspring population QtPerforming fusion to obtain a temporary fusion population Rt;
4-4) to RtPerforming fast non-dominant sequencing to obtain different pareto frontiers FjThe maximum value of j is N;
4-5) for each leading edge FjThe individuals in (1) are arranged in descending order according to the crowding distance; crowding distance DkThe calculation method of (c) is as follows:
wherein, | FjL is the leading edge FjThe number of individuals in (a);
4-6)Pt+1no individuals are present in the initial population of (a); selection of FjIs a first N-Pt+1Put in Pt+1Performing the following steps; if Fj+Pt+1<N,Pt+1=Pt+1∪FjI is i +1, go back to execution 4-4); otherwise, returning to execute 4-5);
4-7)Gmaxfor the maximum algebra of evolution, if t is greater than or equal to GmaxOutputting an optimal solution set PtThe optimization algorithm is ended; otherwise, t is t +1, and P is addedtPerforming cross and differential variation operation to generate a population QtAnd circularly executing the step 4-3) until the end; the differential variation mode is as follows:
Qt=βPbest+(1-β)Pt(9)
wherein β ∈ [0,1 ]],PbestIs a leading edge F1The best individual in (1).
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111452933A (en) * | 2020-04-07 | 2020-07-28 | 哈尔滨工程大学 | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller |
CN111812976A (en) * | 2020-06-06 | 2020-10-23 | 智慧航海(青岛)智能***工程有限公司 | Ship thrust distribution system and thrust distribution method |
CN111966118A (en) * | 2020-08-14 | 2020-11-20 | 哈尔滨工程大学 | ROV thrust distribution and reinforcement learning-based motion control method |
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Title |
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DIJU GAO: "Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II", 《IEEE ACCESS》 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111452933A (en) * | 2020-04-07 | 2020-07-28 | 哈尔滨工程大学 | Thrust redistribution method under failure condition of ship dynamic positioning ship propeller |
CN111812976A (en) * | 2020-06-06 | 2020-10-23 | 智慧航海(青岛)智能***工程有限公司 | Ship thrust distribution system and thrust distribution method |
CN111966118A (en) * | 2020-08-14 | 2020-11-20 | 哈尔滨工程大学 | ROV thrust distribution and reinforcement learning-based motion control method |
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