On thrust allocation methods under the constraints on azimuth thrusters' angles
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- Ohtsubo Kazuhisa
- 九州大学大学院 工学府 海洋システム工学専攻
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- Kajiwara Hiroyuki
- 九州大学大学院 工学研究院 海洋システム工学部門
Bibliographic Information
- Other Title
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- アジマススラスタ首振角に制約がある場合の推力配分法について
- アジマス スラスタ クビフリカク ニ セイヤク ガ アル バアイ ノ スイリョク ハイブンホウ ニ ツイテ
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Abstract
In a ship DPS equipped with azimuth thrusters, desired forces and moment are realized by means of thrust allocation or control allocation (CA) of determining magnitudes of thrusts and directions of thrusters. The most popular method of thrust allocation is well known as Lagrange multiplier method in the case that thrusters can turn around in all directions to reduce the fuel consumption. Recently thrust allocation problems under constraints on thruster performance are discussed, but almost every solving scheme need heavy computational load for iterative calculations to get an optimal solution. Therefore, a new algorithm solving such a problem in real time is required certainly in the navigation field. In the paper, we propose thrust allocation algorithms that handle the bases in the kernel space of a CA matrix which represents the relationship between the azimuth thrusts and control forces. The proposed algorithms satisfy the azimuth thruster angle constraints and make the real-time calculation possible in a reasonable sampling time. Numerical results are given to show the effectiveness of the proposed method, compared with the conventional Lagrange multiplier method.
Journal
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- Journal of the Japan Society of Naval Architects and Ocean Engineers
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Journal of the Japan Society of Naval Architects and Ocean Engineers 6 (0), 177-182, 2007
The Japan Society of Naval Architects and Ocean Engineers
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Details 詳細情報について
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- CRID
- 1390282680229755008
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- NII Article ID
- 110006614135
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- NII Book ID
- AA12057769
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- ISSN
- 18811760
- 18803717
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- NDL BIB ID
- 9378705
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- NDL-Digital
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed