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  • 标题:A Dynamic Allocation Strategy for Voith Schneider Propeller
  • 本地全文:下载
  • 作者:Philipp Koschorrek ; Michael Palm ; Torsten Jeinsch
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:1127-1132
  • DOI:10.1016/j.ifacol.2017.08.395
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractTo ensure a ship’s capability of Dynamic Positioning, the propulsion system of the vessel is usually designed over-actuated, meaning the ship has more control inputs than degrees of freedom. The distribution of thrust demands of some higher-level controller onto the available thrusters, the thrust allocation, is an essential problem and due to the over-actuated problem not trivial. Furthermore, the thrust should be delivered fast and precisely to achieve good positioning results. The usage of a Voith Schneider Propeller allows thrust generation with these properties but spans a new problem due to complex modeling and increased number of control variables. The paper on hand presents a thrust allocation algorithm which utilizes the dynamic advantages of Voith Schneider Propeller. The algorithm uses a two-step approach consisting of Quadratic Programming optimization and external tracking algorithms for calculation of power-optimal propulsion control. The proposed strategy is compared to a non-linear, multi-criteria optimization which is based on high quality open-water characteristics. The results show strong similarities though the computational time can be significantly reduced by usage of the proposed allocation.
  • 关键词:KeywordsMarine SystemsDynamic PositioningDynamic AllocationOptimizationQuadratic Programming
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