engleski

The effect of forbidden zone handling on optimal thrust allocation

The optimal thrust allocation in dynamic positioning systems can have different cost functions such as minimum power consumption, minimum fuel consumption, etc. The thrust allocation often includes a specific set of constraints like thrust saturation, forbidden zones etc. Forbidden zones are usually used in order to avoid or reduce thrust losses due to thruster-thruster interactions. On the other hand, by defining a forbidden zone for an azimuth thruster, a Pacman like thrust region shape is left over which can consequently cause the significant deviations in allocated thruster azimuth angles and increase the time required for thrust and azimuth allocation. The optimal thrust allocation procedure is usually performed only with forbidden zones included, i.e. without the implementation of thruster-thruster interaction effects. In this paper, a comparative analysis of these two approaches is performed and advantages of optimal thrust allocation without forbidden zones but with implemented thrust loss effects are highlighted.

dynamic positioning; optimal thrust allocation; forbidden zones; thruster-thruster interaction

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