This paper presents a new thrust-allocation scheme which significantly reduces the fuel consumption for dynamic positioning of ships when rotatable azimuth thrusters are used. Thrust allocation is the problem of determining the thrust and the direction of each of the n thruster devices of a ship, given the desired forces and moment from the control law. The problem of singular configurations is pointed out and solved by using a modification of the singular-value decomposition. A filtering scheme is proposed to control the azimuth directions to reduce the wear and tear, and to minimize the required thrust and power in a general manner, allowing the enabling and disabling of thrusters. Both new theory and full-scale sea trials are presented.


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    Title :

    Optimal thrust allocation for marine vessels


    Additional title:

    Optimale Antriebsregelung für Schiffe


    Contributors:

    Published in:

    Control Engineering Practice ; 5 , 9 ; 1223-1231


    Publication date :

    1997


    Size :

    9 Seiten, 16 Bilder, 3 Tabellen, 9 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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