14878

13389

كارشناسي ارشد

طراحي كاربردي

اصفهان : دانشگاه صنعتي اصفهان

1398

دوازده، 77ص.: مصور، جدول، نمودار

محمد دانش، مهدي كشميري

مصطفي غيور، حسن موسوي

1398/05/15

كتابنامه

مهندسي مكانيك

مهندسي مكانيك

1398/05/16

2551973

Thrust Allocation of Dynamic Positioning System of a Marine Vessel Based on Covariance Matrix Adaptation Evolution Strategy CMA ES Mohammad Ali Azargoon ma azargoon@me iut ac ir July 1 2019 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree Master of Science Language FarsiSupervisors Mohammd Danesh Assoc Prof danesh@cc iut ac ir Mehdi Keshmiri Prof mehdik@cc iut ac ir AbstractControl allocation thrust allocation is a very important issue in marine vessel applications and doing this taskis really challenging in the presence of linear and nonlinear constraints on actuators and effectors Usually thrust allocation problems treated as an optimization problem First thrust and angle of each thrusters are op timized and then other goals such as minimizing the power singularity avoidance tear and wear minimizationof thrusters are handled In this thesis a new approach is presented for thrust allocation based on the covari ance matrix adaptation evolution strategy CMA ES and it is implemented on a marine vessel with 7 azimuththrusters to indicate appropriate performance of the proposed approach Since the CMA ES is unable to con sider linear constraints a term is defined and augmented in the cost function in order to handle linear constraints The proposed approach determines actual allocated control effort with a little difference to command virtualcontrol effort and with less consumed power respect to other approaches In addition it has a more convergencespeed Simulation results show the accuracy and efficiency of the proposed approach KeywordsControl allocation Thrust allocation Dynamic positioning system CMA ES algorithm Optimization Thrusters

محمد دانش، مهدي كشميري

مصطفي غيور، حسن موسوي