摘要21世纪是海洋经济时代，随着海洋产业的高速兴起，动力定位系统对于海洋钻井平台、起重铺管船、布缆船、平台供应船、大型耙吸挖泥船等海洋工程船舶/平台来说，已成为其海上作业特别是深海作业时必不可少的支持系统，是我国加快海洋资源开发不可缺少的海洋工程装备。推力分配策略是动力定位控制系统重要组成部分，其性能的好坏不仅会影响系统的定位精度，还会影响到推进系统的能耗、排放和磨损。83502

本文针对具体对象，对外界风浪流载荷、船舶运动模型等进行分析。描述了推进器与推进器之间，推进器与船体之间的推力干扰特性。重点研究了推力分配优化问题，针对装备两个隧道式推进器和两个全回转推进器的起重船，给出了降低推进器的总功率、减少推力误差、降低推进器磨损的推力优化分配目标函数，同时确定推力优化分配问题的约束条件。最后，根据建立的模型，运用序列二次规划算法（SQP）对此问题进行求解，并使用matlab软件进行仿真分析，证明了序列二次规划算法在推力分配问题中应用的可行性。

毕业论文关键词： 动力定位系统；推力分配优化；全回转推进器；序列二次规划算法

Abstract   The 21st century is the epoch of marine economy。 With the rapid development of marine industry，dynamic positioning system has become the essential support system for offshore operations，especially the deep-sea operations。 Such as offshore drilling platform, crane vessel, cable layer, platform supply vessel and large TSHD marine engineering ship / platform。 Dynamic positioning system is also an indispensable marine engineering equipment of speeding up the development of marine resources in China。 Thrust allocation strategy is an important part of the dynamic positioning control system。 The performance of the system will not only affect the positioning accuracy of the system, but also affect the propulsion system energy consumption, emissions and tear。

Firstly, according to the specific object, carries on the analysis to the external load, wind flow model of ship motion 。The thrust characteristics between the propeller and the hull are described。 Then, the paper focuses on the thrust allocation problem, select the assembly with two solo tunnel thrusters and two rotary propeller as the research object。 To reduce the total power of the propeller, reduce the error, to reduce the propeller thrust and wear as the objective function。 Meanwhile, determine the constraint conditions of this model。 Then, according to the establishment of the model, use Sequential Quadratic Programming (SQP) to solve this problem, and finally do simulation analysis on the MATLAB software。 The feasibility of the application of the sequence two programming algorithm in the thrust allocation problem is proved。

Key words: dynamic positioning system; thrust allocation optimization; rotary propeller; Sequential Quadratic Programming

目录

第一章 绪论 1

1。1 研究背景和意义 1

1。2  推力分配国内外研究现状 1

1。3 动力定位系统概述 3

1。3。1 动力定位系统组成 3

1。3。2 动力定位系统功能 4

1。3。3 动力定位系统工作原理 4

1。4 本文研究内容 6

第二章 起重船动力定位系统数学建模 7

2。1 起重船主要参数 7

2。2 环境载荷模型