半潜式深海平台动力定位系统推力分配策略的研究-控制理论与控制工程专业论文.docxVIP

II Abstract Abstract With the development of industry in the world, more and more resources are required and consumed. As a result, resources on land and the sea close to the shore will be mined out in the near future. There are extraordinary abundant resources in the deep sea, so deepwater drilling platform arises at the historic moment. How to operate the drilling platform in the complex deepwater surroundings to fulfill drilling cannot afford to ignore. Traditional way to anchor the platforms cannot meet the orientation require in the deepwater surroundings. More and more drilling rigs have adopted dynamic positioning system (DPS). Compared to the traditional way to anchor the platforms, DPS totally depends on its own thrust system to generate force and moment to orient the drilling rig. Thrust allocation is defined to search the best thrust of every propeller in order to meet the objective, such as minimize the energy and thrust error, by using the platform’s own propellers. Also the thrust must satisfy some restriction. Firstly according to the particularity of the dynamic positioning system, the selection and arrangement of the propellers on the drilling rig is expatiated and the reason is explained as well. What’s more, the thrust characteristics of the propeller are depicted. Integrating the semi-submersible offshore platform’s thruster configuration scheme of this topic, the thrust allocation problem in this case is focused on the analysis. Semi-submersible drilling rigs in this thesis possess eight azimuth propellers. The objective of thrust allocation is to minimize the energy consumption of thrust system and the thrust error, considering the restriction such as the limit of the propellers and singularity and so on. This thesis adopted SQP (Sequence quadratic programming) to solve the optimal solution of thrust allocation at first. The shortcomings using SQP methods are illustrated, for example, it strongly depends on the initial value and is easy to fal