耙吸挖泥船动力定位系统推力分配策略研究

摘要

以序列二次规划法为理论基础,提出一种针对耙吸式挖泥船的推力分配方案.推力分配方案的目标是将系统能源消耗降到最低.由于耙吸式挖泥船的特殊性,根据控制器发出的推力指令,解决推力的二次成本函数的带约束多目标优化问题,得出能源消耗最少的各个推进器的推力组合,从而得出各个推进器需要的控制信号.通过对船舶实例的仿真研究,表明序列二次规划法能达到降低系统能源消耗的目的,并且避免了奇异结构,增加了系统的可操纵性.%Based on the sequential quadratic programming method, a thrust allocation for the trailing suction hopper dredger was presented.The objective of the thrust allocation was to minimize the energy consumption.Because of the specificity of the trailing suction hopper dredger, the constrained multiobjective optimization problem of the quadratic cost function of the thrust was solved according to the commanded generalized force, and an optimal solution was chosen according to the minimum energy consumption, then a set of control signals were generalized.The simulation of the sample indicates the sequential quadratic programming method can reduce the energy consumption, avoid singular configuration and increase maneuverability.