Handling method of thruster hydrodynamic interference when the control force of ship dynamic positioning system changes smoothly

Abstract

The invention relates to a method for processing propeller hydrodynamic interference in the case of even change of control force oriented to a ship dynamic positioning system. The method comprises the following steps: establishing a thrust distribution mathematical model in a variable angle distribution mode; solving a constrained optimization problem; judging whether to perform hydrodynamic interference processing or not according to a propeller angle after first distribution, moment generated by an X direction and a Y direction, and a current control resultant force direction; and changing a weight matrix according to a current ship configuration matrix and the current control resultant force direction, and performing second thrust distribution to obtain a new thrust distribution result. Through adoption of the method, setting of one or more thrust forbidden zones can be avoided; a range of a thrust feasible region is reduced; the problem that a propeller tends to fall into a forbidden zone range in the case of even change of control force can be solved effectively; and thrust loss caused by the hydrodynamic interference is reduced.

Description

technical field [0001] The ship dynamic positioning thrust distribution method of the present invention specifically refers to a propeller hydrodynamic interference processing method when the control force of the ship dynamic positioning system changes gently. Background technique [0002] With the depletion of traditional energy coal and oil on land and people's huge demand for energy, human beings are gradually exploring the development of the ocean. The positioning accuracy of marine structures operating in deep water areas, such as platform supply ships, drilling ships, and drilling platforms, is getting higher and higher. In this context, dynamic positioning technology has rapidly gained attention and has become one of the key technologies for ocean development and exploration. The marine structure installed with the dynamic positioning system uses satellites, GPS and other positioning means to obtain the current position of the marine structure, and the controller cal...

AI Technical Summary

Problems solved by technology

This approach tends to lose a large portion of the thrust feasible region, resulting in a loss of dynamic positioning capability

If no restricted area is set, when the control force issued by the control system is relatively gentle, the thruster may be in a part of the area with a large thrust loss for a long time, which will reduce the efficiency of the thruster and lead to increased energy consumption

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