Research on Thrust Allocation of Dynamic Positioning Ship with Cycloidal Propeller

摘要

With the increasing development of marine technology, higher requirements for the control precision, reliability, and adaptability of the ship are put forward. So the thrust allocation of dynamic positioning ship with a cycloidal propeller is studied in this paper. Firstly, the kinematics and dynamics model of three degrees of freedom and the disturbances model of wind, wave and current are established. Secondly, the model of the cycloidal propeller is studied. Then the sequential quadratic programming (SQP) algorithm is applied to the thrust allocation of the cycloidal propeller. Finally, the simulation of thrust allocation shows that the presented method for the cycloidal propeller thrust allocation is feasibility and applicability.