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针对水流作用下的沉管平移控制问题,在数学描述的基础上对拖轮合力、合力矩进行了分析,统一了四象限拖轮力矩的计算公式,构建了考虑作业拖轮数量、拖力裕量、浮运速度的沉管平移控制优化模型,提出了基于加权对数理想点法的粒子群优化方法,运用克拉默法则进行拖力大小和角度的约束处理,通过港珠澳大桥岛隧工程沉管隧道管节浮运控制算例进行仿真。仿真结果表明:拖轮总数量为6艘时,涨潮流情况下所得浮运速度为4.770kn,适应度为0.720,作业拖轮数量为3艘,拖力裕量乘积为2.693×1020 kN6;落潮流情况下所得浮运速度为1.750kn,适应度为3.042,作业拖轮数量为5艘,拖力裕量乘积为3.352×1019 kN6。可见,本文提出的模型和方法具有较强的适用性,适应度较优,作业拖轮数量较小,拖力裕量与浮运速度较大。
Based on the mathematical description, the analysis of tugboat force and moment is carried out. Based on the mathematical description, the formula of four-quadrant tugboat torque is unified, and the calculation formula of four-quadrant tug torque is established. Considering the number of tugboat, towing margin, Speed drift-tube translational control optimization model, a particle swarm optimization method based on the weighted logarithmic ideal point method is proposed, and the constraint of towing force size and angle is implemented by using Kramer’s rule. Through the immersed tunnel Tube floating control example for simulation. The simulation results show that when the total number of tugboats is six, the resulting floating speed is 4.770kn, the fitness is 0.720, the number of tugboats is three and the product of drag force margin is 2.693 × 1020 kN6. Under the resulting floating speed of 1.750kn, fitness of 3.042, the number of tugboat operations for the five, towing margin product of 3.352 × 1019kN6. It can be seen that the models and methods proposed in this paper have strong applicability, better fitness, smaller number of tugboats and larger towing margin and floating speed.