Method, device, equipment and medium for dynamic positioning of semi-submersible offshore platform

A dynamic positioning device of a semi-submersible offshore platform, wherein a first torque detector, a second torque detector and a preset number of propellers are arranged in the semi-submersible offshore platform, and the device comprises:

• a position acquisition module, configured to acquire a real-time position of the semi-submersible offshore platform;
• a force detection module, configured to detect an external force torque of the semi-submersible offshore platform by using the first torque detector if the real-time position is different from a preset position;
• a first torque calculation module, configured to determine a corresponding first target thrust torque of each of the propellers according to the external force torque and a preset formula set;
• a first control module, configured to control each of the propellers to generate a thrust according to the corresponding first target thrust torque, and detecting an actual thrust torque of each of the propellers by using the second torque detector;
• a fault detection module, configured to obtain a fault condition of each of the propellers if an actual thrust torque of at least one of the propellers is different from a corresponding first target thrust torque, wherein the fault condition is obtained from the actual thrust torque and the corresponding first target thrust torque;
• a second torque calculation module, configured to calculate a corresponding second target thrust torque of each of the propellers according to the fault condition of each of the propellers, the external force torque and the preset formula set;
• and
• a second control module, configured to control each of the propellers to push according to the corresponding second target thrust torque, making the actual thrust torque of each of the propellers the same as the corresponding first target thrust torque, and making the real-time position the same as the preset position.