Thrust allocation method for water jet dynamic positioning

Aiming at the thrust allocation problems under complex nonlinear constraints of the waterjet model, a regional quadratic programming method was proposed.The method regarded the instantaneous reverse characteristic of the longitudinal thrust as an incomplete symmetrical change in dynamic feasible region.According to the pre-solved result and the designed sub-regional logic, a local feasible initial value and a more accurate convexity region could be obtained.Combined with the combined bias optimization solution algorithm, an optimal allocation result that meets the requirements of ship operations would be obtained. At last, a simulation verification was carried out with a research object ship equipped with water jets.The simulation results showed that the method can effectively solve thrust allocation problems.In addition, the method has better accuracy and faster speed than traditional methods. © 2024 Huazhong University of Science and Technology. All rights reserved.