Design and implementation of pseudo-inverse thrust allocation algorithm for ship dynamic positioning

The pseudo-inverse method cannot optimize the angle and needs to give the azimuth angle artificially, therefore, when the dynamic positioning system has variable vector propellers and rudders, the pseudo-inverse method cannot be applied to the full automatic control and cannot realize the optimal exactly. In this paper, in view of the above problems, considering the propeller and the environment load conditions, a thrust allocation scheme based on the pseudo inverse algorithm with weight is proposed for minimizing the energy consumption. The thrust allocation scheme distributes the thrust after optimizing the angle. It combines the full-revolving propulsion angle optimization with the thrust optimization to realize the ship thrust allocation reasonably and efficiently and achieves the minimum energy consumption and wear. Finally, the experimental results verify the effectiveness of the proposed method.