THRUST ALLOCATION IN DYNAMIC POSITIONING SYSTEMS

摘要

A computer-implemented method and a generator for generating thruster settings for an over-actuated thrust allocation system are described. Said thruster settings are configured to control thrusters of at least one craft such that the craft is kept on a desired position or track. The method comprises; receiving a total desired thrust, preferably the total desired force and the total desired moment, associated with said desired position or track; calculating said thruster settings by executing a program including minimizing a cost function associated with said thrusters on the basis of said total desired thrust and one or more non-linear thruster constraints associated with the physical or operational limits of said thrusters; wherein said cost function and said one or more non-linear thruster constraints are modelled as a second order cone program comprising a linear cost function and one or more second-order convex cone constraints.