추력분배 방법에 따른 동적위치유지 영향에 관한 연구

Abstract

Effect of thrust allocation on DP (Dynamic Positioning) was studied in this paper. It is important to allocate required control force effectively to each thruster in ships(and offshore structures) equipped with DP system. Linear thrust allocation which uses Lagrange multiplier has several limitations such that it can not consider maximum thrust when there is thrust saturation and it is impossible to set arbitrary object function, while its computation is very light. On the other hand, nonlinear allocation can solve most of these limitations including consideration of maximum thrust. In this study, static DP analysis and dynamic DP simulations applying both linear and nonlinear thrust allocations were done and compared.