船舶动力定位系统推力分配优化算法研究

为了解决配置有舵的海洋工程船推力分配优化问题，采用分离变量技术与二次规划方法相结合的优化算法，把每个推进器产生的推力视为一个有限区域的凸多边形，来表示其可以达到推力大小的能力，这样推力分配问题可以分解成为一个有限且可以单独解决的子问题，且能够更好地找到解决问题的最优化方法，同时对于每个推进器的推力特性的限制可以看作是对问题解决添加更多的限制条件。仿真试验表明：这种技术可以很好地结合序列二次规划方法，试验取得了良好的定位效果。

Ship Dynamic Positioning System thrust allocation optimization algorithm

In order to solve the problem of optimization thrust allocation for Marine engineering ship with rudder, In this paper, a quadratic programming methods combined with disjunctive programming techniques are used, Using disjunctive programming each actuator is modeled by a finite union of convex polygons representing the attainable thrust region. This approach allows combinations of non-rotatable thrusters, rotatable azimuth thrusters with forbidden/spoil zones and main propeller/rudder pairs to be used. As a consequence the allocation problem decomposes into a finite number of subproblems that all need to be solved separately in order to find the optimal solution of the main problem. The ship dynamic positioning experiments show that： This techniques can work well with the quadratic programming methods, and the experiments made a good result.