Study Of Key Techniques On Thrust System For Ship Dynamic Positioning Simulator

With the development and exploration of ocean gradually, traditional anchor positioningmethod has been unable to meet the requirements of ships which working in deep sea. Therefore,extensive use of dynamic positioning (DP) ship has become an inevitable trend, DP operator willbecome indispensable as well. However, the DP operator training needed complete and perfecttraining facilities. Dynamic Positioning Simulator is the main equipment for DP operatortraining.As an important part of the dynamic positioning simulator, the thrust system is worked bycontrolling each propeller’s thrust and direction, to achieved the instructions from the controlsystem, in this way, each propeller produce predetermined thrust to complete the ship dynamicpositioning. The objective of this thesis is to design and development the thrust simulationsubsystem by studying on modeling and simulation, laying the foundation for the developmentof the theory and practice for dynamic positioning simulator. The major work of the thesisincludes:(1) The status of research on ship dynamic positioning simulator is described. Introduce thecomposition of ship dynamic positioning simulator system and a detailed analysis of its keytechniques involved, at last, analysis the main research contents of thrust simulation subsystem.(2) The working characteristics of the propeller were introduced, including the formula oftrust and torque, the interaction between ship and propeller, propeller efficiency. Further, solvingthe problem of the thruster rotation speed by considering two kinds of operation mode thedynamic positioning ship can be worked in.(3) Using the generalized inverse allocation algorithm, allocation algorithm based on thenull space of configuration matrix and group biasing thrust allocation algorithm, three differentthrust allocation algorithm based on the same target thrust, analysis each thrust allocationalgorithm’s similarities and differences as well as their advantages and disadvantages. After all,the thesis proposed an improvement thrust allocation method, and the improvement thrustallocation algorithms is verified by simulation.(4) Based on (2) and (3), the DP thruster allocation simulation subsystem is completedusing the C#Windows Presentation Foundation (WPF) approach. The simulation can beintegrated into the dynamic positioning simulator, become part of the future dynamic positioningsimulator.