Logic thrust allocation applied to multivariable control of the training ship

This paper describes a new thrust-allocation algorithm applied in steering system of the training ship. The allocation is a problem of the distribution of a small number of control signals from regulator to a large number of commands for propellers to move the ship precisely in a desired manner. Several requirements for allocation unit were formulated to ensure a reduction of the thrusters power consumption. Described algorithm bases on logic inequalities and simple calculations operations. The results of simulation and full-scale trials are presented as a verification of the algorithm work.