摘要动态定位系统（Dynamic Positioning system,简称 DP）根据深水钻井的需要，首 次出现在石油和天然气行业。作为传统的系泊系统，只能用于一般水深区域。深海区 海洋资源的开发和海上运输对于船舶动力定位系统的要求越来越高，从而加速了动力 定位系统技术的发展。83801

本论文研究了船舶动态定位推力分配方法，并使用 DP 计算和时域仿真进行测试。 DP 推力分配程序系统负责船舶执行机构的推力分配，除了能减少能源消耗外，也能 达到理想的推力分配。目前大多数情况下，人们使用拉格朗日乘数法解决问题，但是 拉格朗日乘数法不能精确的用舵和禁止/破坏区描述全尺度的 DP 系统，所以新的方法 亟待开发。

二次规划法结合析取编程技术可以解决此类最优推力分配问题。本论文研究的问 题是把船舶整体推力分配给不可旋转的推进器组合、可旋转方位推进器和主螺旋桨/ 舵组合，也就是把分配问题分解成有限数目的子问题，并找到最优解。对于时域仿真， 通过增加更多的凸推力区域，并且考虑了动态推进器的限制。总的来说，利用线性矩 阵不等式解决了最优推力分配问题。所以二次规划法才是动态定位的正确解决方法。

毕业论文关键词：优化算法；动态定位；推力分配；二次规划

Abstract Due to the need of deep water drilling,dynamic positioning systems (DP) first appeared in the oil and gas industry。Dynamic Positioning systems,as conventional mooring systems,can only be used in shallow waters。The development of deep sea Marine resources and maritime transport more and more high to the requirement of ship dynamic positioning system,so as to accelerate the development of dynamic positioning system technology。

This paper studied the ship dynamic positioning thrust allocation methods,and use DP computation and time domain simulation test。The thrust allocator of a DP system is responsible for the thrust distribution over the actuators of the ship。Apart from minimizing the power consumption,it can also reach an ideal thrust allocator。At present in most cases,the people using the Lagrange multiplier method to solve the problem,but the Lagrange multiplier method cannot accurately describe the full-scale of DP system with rudders and forbidden/spoil zones,new methods need to be explored。

Quadratic programming methods combined with disjunctive programming techniques are used to present a more elaborate solution to optimal thrust allocation problems。This paper studies the problem that allocator distribution the ship's wholethrustto non-rotatable thrusters,rotatable azimuth thrusters with forbidden/spoil zones and main propeller/rudder pairs,which the allocation problem is decomposed into a finite number of subproblems,and find the optimal solution。For the time domain simulation,by adding more convex thrust zone, consider the limit of the dynamic propeller。In general,using linear matrix inequality can solve the problem of the optimal distribution of thrust。So the quadratic programming method is the correct solution in dynamic positioning。

Keywords:optimization algorithm;dynamic positioning;thrust allocation;quadratic programming

目 录

第一章 绪论 1

1。1 课题研究的意义 1

1。2 国内发展状况 2

1。3 推力分配的发展趋势 3

1。4 课题研究内容 3

第二章 动态定位系统 5

2。1 位置/航向参考系统