Design and Implementation of Pseudo-Inverse Thrust Allocation Algorithm for Ship Dynamic Positioning

Abstract

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. INDEX TERMS Pseudo-inverse method, dynamic positioning, thrust allocation, optimize.

Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape

“…Thrust allocation based on the pseudo-inverse method is really simple, but on the other hand shows some limitations. A well-known problem is that the obtained solution may exceed the maximum thrust of the thrusters, and various measures [13][14][15] have been taken to deal with this problem. Another problem is that the method is designed without considering the actual top-level motion requirements of the ROV.…”

“…By comparison, redistribution pseudo-inverse method 12,13 and cascade pseudo-inverse method 14 are more superior solutions for dealing with the oversaturation case, which use linear programming to realize the secondary allocation and optimization. Ye et al 15 introduced a weight matrix into the pseudo-inverse method, which can minimize the energy consumption of the propulsion system under many restricted conditions. Furthermore, the pseudo-inverse method with weight matrix can be used for fault-tolerant control according to the status of the propulsion system.…”

Ship Dynamic Positioning Control Based on Active Disturbance Rejection Control

“…During the dynamic positioning and tracking process of the ship, the controller calculates the corresponding thrust according to the deviation between the set position and the current position and transmits it to the ship to drive the ship [47]. The ship then feeds the position information back to the controller through the navigation system to form a closed control loop.…”

Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II

“…B(α) ∈ R 3×4 is the thrust structure matrix representing the mapping relationship from the thrust of each propeller f i to the resultant force or moment τ . The thrust structure vectors of the azimuth thruster and the tunnel thruster are b a (α i ) and b t , respectively [19], they are given by…”

“…where |F(k)| is the number of the elements in F(k). The distance threshold D k will be dynamically adjusted with the non-dominated set of the contemporary population F(k) [19]. The crowding distance D k varies with the range of the non-dominant set of the current population.…”