%0 Journal Article
%T 动力定位直接分配算法及其仿真
%A 徐海祥
%A 付海军
%A 冯
%A 辉
%J 大连海事大学学报
%D 2016
%X 针对过驱动船舶在环境力较小而方向频繁变化海况下的推力分配问题，采用一种直接分配算法.该算法通过构造可达集凸多面体，搜索期望输出力和力矩矢量与可达集凸多面体各个面的交点得到相应的推进器推力.仿真实验表明,该方法能有效解决环境力较小而方向频繁变化这一特殊海况下的推力分配问题.</br>To solve the problem of thrust allocation for overactuated ships in the situation of small environment loads with frequent direction change,a direct allocation algorithm was proposed.The corresponding thrust of thrusters was obtained by constructing the intersection between facets of the convex polytope and searching the desired output vector of forces and moment.Simulation experiments under the fixed angle mode show that the algorithm can solve the thrust allocation problem.
%K 国家自然科学基金资助项目(61301279
%K 51479158).
%U http://xb.dlmu.edu.cn/CN/abstract/abstract370.shtml