Thrust distribution method for power positioning system of offshore drilling platform
A technology for offshore drilling platforms and dynamic positioning systems, applied to general control systems, control/regulation systems, propulsion components, etc., can solve problems such as large amount of calculation, non-optimal solution, and poor robustness of SQP
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[0041] The present invention will be further described below in conjunction with the accompanying drawings.
[0042] figure 1 It is the system structure diagram of the platform dynamic positioning system, mainly including the measurement system, controller and thrust distribution, the position and heading angle of the platform are measured by the observer, and compared with the set value, the filtered position and heading angle The angle deviation e(t) is input to the controller, and the controller generates control instructions through calculation. After the thrust distribution is carried out, the thrust is transmitted to the thruster of the actuator, and the thruster generates corresponding force and moment to resist the external force and moment. , to keep the platform in the required position and heading. The present invention mainly deals with the thrust distribution optimization problem, and converts the control instruction into the thrust instruction transmitted to the...
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