中文摘要：

随着船舶推进技术的不断发展,动力定位船舶将更多地使用快速转向推进器以提高其定位性能。快速转向推进器的使用将引入大角度变化率,这会造成优化分配求解域明显的非凸性,给优化问题的求解带来了挑战。针对装备快速转向推进器的动力定位船舶,运用区域外切近似法对其推力分配的非凸性问题进行了凸化,采用增广拉格朗日乘子法对控制力进行了优化分配。仿真结果表明：推荐的凸化处理方法能有效地解决推力分配的非凸问题,分配算法可以充分利用快速转向推进器的机械性能优势,寻找更优的可行解,从而显著地减少动力定位船舶的能耗,提高其定位性能。

英文摘要：

With the development of ship propulsion technologies,rapid rotating propellers are more used to improve the positioning performance of dynamic positioning ship. However,large angle change rate is introduced by rapid rotating propellers. Therefore,non convexity is obvious in the solving domain,which makes great challenges to the optimization. In order to solve the thrust optimization allocation problem with rapid rotating propellers under changeable sea condition,the circumscribed approximation method is employed to solve a non-convex problem,and augmented Lagrange multiplier method is used to allocate the control force in the paper. Simulation results show that the proposed convex methods can solve the non-convex problem effectively; besides,the allocation algorithm can take full advantage of the rapid rotating propeller mechanical properties to find a more feasible solution. Consequently,the performance has been improved significantly in the sense of fuel consumption and dynamic positioning.