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Author Zalewski, Paweł
Affiliation Maritime University of Szczecin, Faculty of Navigation, Centre of Marine Traffic Engineering 1-2 Wały Chrobrego, 70-500 Szczecin, Poland
E-mail p.zalewski@am.szczecin.pl
ISSN printed 1733-8670
URI http://repository.am.szczecin.pl/handle/123456789/2442
Abstract 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.
Pages 45‒50
Publisher Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie
Keywords dynamic positioning
Keywords thrusters
Keywords thrust allocation
Keywords convex optimization
Keywords constrained optimization
Keywords DP simulator
Title Constraints in allocation of thrusters in a DP simulator
Type Original scientific article
References
  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.
ISSN on-line 2392-0378
Language English
Funding No data
Figures 5
Tables 1
DOI 10.17402/244
Published 2017-12-15
Accepted 2017-11-20
Recieved 2017-10-23


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