Optimum allocation for multiple thrusters

In one concept for a Mobile Offshore Base (MOB), the several modules are kept in alignment and properly positioned with respect to one another by the use of many steerable thruster units. The research reported here develops an algorithm using linear programming to rationally allocate commanded thrust and thruster azimuth to multiple thrusters (more than two) in order to best achieve the desired force system on the MOB module. The linear programming approach allows explicit consideration of many of the real-world characteristics of the thrusters, including maximum thrust capability, maximum slew rate of the thrusters, etc. The algorithm was programmed and the results of the optimum allocation for two different scenarios are presented.