Thrust Allocation and Management for Dynamic Positioning Ship with Azimuth Thrusters

In order to solve the complex thrust allocation problems of dynamic positioning ship with azimuth thrusters, thrust allocation and management system was built. The power optimal thrust allocation was formulated as a quadratic programming problem by the linear treatments of inequality constraints and the optimal solution could be found in a finite amount of time. And some influence factors of thrust allocation were separated from algorithms and treated as a superstratum management module. Using this system, online adjustment of input constraints and singularity avoidance can be realized, and the reliability and adaptability of thrust allocation are improved consequently. Finally, the validity and excellent performance of this method is proved by the simulations.