Constraints in allocation of thrusters in a DP simulator

• Autorzy: Zalewski P.

Identyfikatory

DOI

10.17402/244

• Języki publikacji: EN

Abstrakty

EN

Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations that enable the generation of force and torque. Some thrusters in these configurations are deliberately redundant to minimize consequences of thruster failures, enable overactuated control and increase the safety in operation. On such vessels, a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of the thrusters’ settings in DP systems is a problem that can be solved by convex optimization methods depending on the criteria and constraints used. This paper presents a quadratic programming (QP) method, adopted in a DP control model, which is being developed in Maritime University of Szczecin for ship simulation purposes.

Słowa kluczowe

EN

dynamic positioning; thrust allocation; convex optimization; constrained optimization; DP simulator; thrusters

• Wydawca: Wydawnictwo Naukowe Akademii Morskiej w Szczecinie
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Szczecinie
• Rocznik: 2017
• Tom: nr 52 (124)
• Strony: 45--50
• Opis fizyczny: Bibliogr. 7 poz., rys., tab.

Twórcy

autor

Zalewski P.

• Maritime University of Szczecin, Faculty of Navigation, Centre of Marine Traffic Engineering 1-2 Wały Chrobrego, 70-500 Szczecin, Poland

Bibliografia

• 1. Artyszuk, J. (2010) Pivot point in ship manoeuvring. Scientific Journals of the Maritime University of Szczecin, Zeszyty Naukowe Akademii Morskiej w Szczecinie 20 (92), pp. 13–24.
• 2. Boyd, S. & Vandenberghe, L. (2009) Convex Optimization. New York: Cambridge University Press, 7th printing.
• 3. Fossen, T.I. (2011) Handbook of Marine Craft Hydrodynamics and Motion Control. United Kingdom: John Wiley & Sons Ltd.
• 4. Grant, M. & Boyd, S. (2013) CVX: Matlab software for disciplined convex programming, version 2.0 beta. [Online] September 2013. Available from: http://cvxr.com/cvx.
• 5. Ruth, E. (2008) Propulsion control and thrust allocation on marine vessels. Doctoral Theses at Norwegian University of Science and Technology, 2008:203.
• 6. Wit, C.D. (2009) Optimal Thrust Allocation Methods for Dynamic Positioning of Ships. M.Sc. Thesis, Netherlands: Delft University of Technology.
• 7. Zalewski, P. (2016) Convex optimization of thrust allocation in a dynamic positioning simulation system. Scientific Journals of the Maritime University of Szczecin, Zeszyty Naukowe Akademii Morskiej w Szczecinie 48 (120), pp. 58–62.

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).