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1OptimalThrustAllocationLogicDesignofDynamicPositioningwithPseudo-InverseMethodYANGShi-zhi(杨世知),WANGLei(王磊),SUNPan(孙攀)(StateKeyLaboratoryofOceanEngineering,ShanghaiJiaotongUniversity,Shanghai200240,China)ShanghaiJiaotongUniversityandSpringer-VerlagBerlinHeidelberg2011Abstract:Thisarticlepresentsamethodnamedpseudo-inversetosolvetheoptimalthrustallocationofdynamicpositioning(DP)system,proposestooptimallydeterminetheazimuthangleofthrustersinsteadofman-controlorsemi-autocontrol,andcombineswiththepseudo-inversemethodstogettheoptimalsolutionsfordynamicpositioningcontrolsystem.Itisabletogreatlyreducetheriskofmanualmode.Threedifferentkindsofmodesareproposedanddetailedlyilluminated,andcanbeusedtosolvemuchmorecomplexnonlinearconstraintproblems,suchastypicalforbiddenvectorboundary.Severalillustrativeexamplesareprovidedtodemonstratetheeffectivenessandcorrectnessoftheproposedthrustallocationmodes.Keywords:thrustallocation(TA),dynamicpositioning(DP)system,pseudo-inversemethod(PIM),thrustloss2NumericalStudyonGlobalMotionofTrussSparinFrequencyandTimeDomainsfortheLiwan3-1AreaLILu,LIBinbin,andOUJinpingAbstractUsingfrequencyandtimedomainanalysis,theauthorsanalyzedthehydrodynamicsandmotionbehaviorofaTrussSparplatformatawaterdepthof1500mintheLiwan3-1areaoftheSouthChinaSea.Firstly,theseakeepingabilityisacquiredinthefrequencydomainbycalculatingthehull’shydrodynamicsandcomparingwithasemi-submersibleplatform.Therandomwaveanalysisfor100-year,10-yearand1-yearreturnperiodsinLiwan3-1distinctlyshowslowerheavebutlargersurgeandpitchresponsesoftheTrussSparthanthoseofasemi-submersible.Secondly,3-hourmotionsoftheTrussSpararepredictedandcomparedinthetimedomainunder100-yearreturnperiodconditionsinLiwan3-1andtheGulfofMexico.Thirdly,thehull/mooringlinecoupledanduncoupledmodelsarecompared.Finally,theresponsesoftheTrussSparunder10-yearand1-yearreturnperiodconditionsareassessed.Theresultsrevealthatthemooringlinedampingreflectedbythecoupledmodeldistinctlydecreasesthelowfrequencymotion.Themaximumhea
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