Study on Thrust Optimization Allocation Algorithm of Ship under Dynamic Uncertain Sea Conditions

Ship thrust allocation is modeled as a nonlinear programming problem when constrains are considered. The constrains of ship thrust allocation including force and torque that meeting the control requirements, the saturation of propulsive force, the rotation angle of azimuth thrusters can not be changed much, azimuth thrusters' forbidden zones. In order to improve the probability of finding solutions of nonlinear programming problems, this paper relaxes the equations considering the ship dynamic positioning control requirements. The problem is remodeled as a stochastic programming problem, and the simulation results show effectiveness of this method.