基于能耗最优化的动力定位推力分配逻辑算法研究gtaho2hc.docVIP

基于能耗最优化的动力定位推力分配逻辑算法研究 第15卷第3期 2011年3月 船舶力学 JournalofShipMechanics V01.15No.3 Mar.201l ArticleID:1007—7294(2011)03—0217—10 OptimalThrustAllocationBasedonFuel?_.efficiency forDynamicPositioningSystem YANGShi-zhi一,WANGLei29ZHANGShen (1ChinaClassificationSocietyNanjingBranch,Nanjing210011,China;2TheStateKeyLaboratoryof OceanEngineering,ShanghaiJiaoTongUniversity,Shanghai200240,China) Abstract:ThetwoseveralmethodsofthrustdistributioninapropulsionsystemofDynamicPosition- ingSystem(DPS)arepresentedinthispaper.Withdetailsimulationandanalysis,thispapercon— centratesonfindingoutanoptimalthrustallocation(11A),whichcouldgaindesiredforcesandmo— mentsactingonthevehicleSOastokeepposition.Specialattentionispaidtoso]vethenon—linear constrainedthrustallocationproblems.Andtheproposedmethodsaretosetupaconfigurationmatrix whichexactlydescribethelayoutofthrustersoftheDPpropulsionsystem.Anillustrativeexample basedonGeneticAlgorithm(GA)andSequentialQuadraticProgramming(SQP)isprovidedtodemon. stratetheeffectivenessandcorrectnessoftheproposedmethods.Fivealgorithmssuitedfordifferent controlconditionsarepresented. Keywords:ThrustAllocation(TA);DynamicPositioningSystem(DPS); GeneticAlgorithm(GA);SequentialQuadraticProgramming(SQP) CLCnumber:U664.3Documentcode:A 1Introduction Asthelastpotentialsupplierofnaturalresourcesandenergiesaswellasprovisionsonthe earth,theoceanisrequestedmoreandmoretorevealitssubstancestohumanbeings.Dynam— icPositioningSystemisthemostpromisingmeansofposition——keepingfordeep——seaexplo.- ration,whichisnotconfinedbydepthofwaterandhasmuchgreatadvantagescomparedwith mooringsystem.BesidesDPcouldserveasanauxiliaryofmooringsysteminshallowwater condition,whichcouldenhancethecapabilityofmooringsystem.BasicsofDPareshownin Fig.1. Thisworkismotivatedbythefuel-efficiencyoptimalcontrolallocationproblemintheDP propulsionsystem,whichisessentialforDP.Themaincontributionofthisworkistoanalyze theobjectivefunctionandboundaryconditionbasedonGeneticAlgorithm(GA)andSequential QuadraticProgrammi