中文摘要：

动力定位船舶一般都装备冗余推进器,推力分配求解将直接影响最终定位的效果。针对伪逆法在推力分配中存在问题,提出一种把伪逆法和混沌粒子群法（CPSO）相融合的推力分配算法,该组合算法方便处理推力器各种限制条件,计算简单,能兼顾船舶的能耗及操作性,解决奇点问题。最后以某挖泥船为例,仿真结果表明该推力分配算法具备一定的实用指导价值,能有效提高船舶的定位性能。

英文摘要：

Dynamic positioning ships are generally equipped with redundant thrusters,and thrust allocation will directly affect the positioning performance. In this paper,fusion of pseudo inverse method and chaos particle swarm algorithm（ CPSO） is designed in order to resolve the problem of thrust allocation with pseudo inverse method,the algorithm is simple and convenient to handle and calculate various constraints of thrust allocation,and both consumption and maneuverability are considered to solve the singularity problem. Finally,a dredger is taken as an example,and simulation results show that the algorithm has a certain practical guidance value,and that the dynamic performances of dynamic positioning ship are improved.