华中科技大学学报（自然科学版）2025，Vol.53Issue(4)：65-71,7.DOI:10.13245/j.hust.250537
考虑桨舵组合与桨桨干扰的推力分配算法研究
Research on thrust allocation algorithm considering propeller-rudder combination and propeller-propeller interference
摘要
Abstract
To handle the impact of the interaction between the main thruster and the rudder,along with the interference among the propellers on the thrust allocation of the dynamic positioning vessel,the mathematical model of the overdriven vector propulsion system of the"Offshore Oil 278"vessel was derived and established.An enhanced thrust allocation approach based on the quadratic programming method was proposed.This approach took into account the influence of the rudder on the thrust allocation and regarded the propeller-rudder combined thruster as a rotatable thruster with angular constraints.Meanwhile,the non-convex propulsion azimuth forbidden region was convexified,the constraint conditions were linearized,and the strategy for optimizing the rotation direction of the propeller was employed to avoid the local saturation problem of the propeller caused by propeller-propeller interference,thereby achieving optimal allocation of thrust resources.Simulation verification results show that the proposed improved allocation method can effectively solve the wake interference problem between adjacent thrusters in thrust allocation,and address the challenge posed by the combined effect of the main thruster and rudder on thrust allocation,enabling rational thrust allocation and three-degree-of-freedom motion control for the propulsion system of dynamic positioning vessels.关键词
动力定位/推力分配/桨舵组合/全回转推进器/回转禁止域Key words
dynamic positioning/thrust allocation/propeller-rudder combination/azimuth thruster/azimuth forbidden region分类
交通运输引用本文复制引用
李新飞,崔志彬,蔡浩泽,周素莲,李隶辉..考虑桨舵组合与桨桨干扰的推力分配算法研究[J].华中科技大学学报（自然科学版）,2025,53(4):65-71,7.基金项目
国家自然基金面上项目(5237110401) （5237110401）
中海油科技项目(E-8022P015) （E-8022P015）
中海油生产项目(C-0823116). （C-0823116）
