engleski

Forbidden zone handling in optimal thrust allocation of DP vessels

Strategies for optimal thrust allocation in dynamic positioning systems of marine vessels are primarily focused on minimization of power consumption with treating numerous limitations and conditions that should be satisfied at the same time. At the same time, one can notice that thruster interaction effects such as axial and transverse current, thruster-hull interaction, thruster-thruster interaction and ventilation are rarely taken into account. Forbidden zones are usually used in order to avoid or reduce thrust losses due to thruster-thruster interactions. 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 emphasized.

dynamic positioning ; optimal thrust allocation ; forbidden zones

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