中文摘要：

针对动力定位船舶处于控制力要求为零、环境力较小而方向频繁变化,以及要求高于定位能力实际所需功耗等特殊工况时,提出了一种新的自适应组合偏置策略来解决推力分配的问题.该算法能够在不影响推进系统最大能力的基础上,通过自适应调整偏置量避免全回转推进器发出零推力,保证推进器的角度变化平稳,降低推进器的磨损,提高船舶对环境变化的响应能力.仿真结果表明,该算法能有效地解决上述特殊工况下的推力分配问题.

英文摘要：

In order to solve the problem of thrust allocation when dynamic positioning vessels work in special conditions, such as small environment forces with frequent changes of direction, control force demand being zero and higher power consumption than that of the positioning capacity, a new adaptive group biasing strategy is proposed in this paper. On the basis of without affecting the maximum ca- pacity of the propulsion system, this algorithm can avoid propeller giving zero force, make the angle of thruster change smoothly, reduce the wear of propellers, and improve the response ability of the vessels towards the environment variation, through adjusting the biasing adaptively. The simulation results show that the algorithm can effectively solve the thrust allocation problem in special conditions.