摘要：AbstractThis contribution presents a thrust allocation module for combined Dynamic Positioning and active Roll Damping of ships using solely its main propulsion system. To achieve the given thrust demands a multi-step optimization approach which considers the different spectral properties of the two regimes is proposed. Limitations of the thrusters, such as maximum thrust or rate constraints, are considered. The algorithm is tested on a set of artificial demands, which demonstrate the operating principle. A second setup shows the interaction of the allocation and the ship within a closed-loop Dynamic Positioning simulation. The results are promising and show that combined positioning and roll stabilization is possible with a single marine actuator system.
