A Thrust Allocation Algorithm considering Dynamic Positioning and Roll Damping Thrust Demands using multi-step Quadratic Programming

被引：6

作者：

Koschorrek, Philipp ^{[1
,2
]}

Hahn, Tobias ^{[2
]}

Jeinsch, Torsten ^{[2
]}

机构：

[1] Voith Turbo GmbH & Co KG, D-89522 Heidenheim, Germany

[2] Univ Rostock, Inst Automat, D-18119 Rostock, Germany

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 29期

关键词：

Marine systems; Ship control; Dynamic Positioning; Roll damping; Thrust allocation; Optimization; Quadratic Programming; VOITH SCHNEIDER PROPELLER;

D O I：

10.1016/j.ifacol.2018.09.448

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This contribution presents a thrust allocation module for combined Dynamic Positioning and active Roll Damping of ships using solely its main propulsion system. To achieve the given thrust demands a multi-step optimization approach which considers the different spectral properties of the two regimes is proposed. Limitations of the thrusters, such as maximum thrust or rate constraints, are considered. The algorithm is tested on a set of artificial demands, which demonstrate the operating principle. A second setup shows the interaction of the allocation and the ship within a closed-loop Dynamic Positioning simulation. The results are promising and show that combined positioning and roll stabilization is possible with a single marine actuator system. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：438 / 443

页数：6

共 21 条

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