Thrust allocation system for Blue Lady training ship taking into account efficient work of main propeller

Thrust allocation system combines the work of an automatic control system with the ships actuators. On the basis of values of transversal and longitudinal forces and yaw moment determined by the regulator, it specifies commands for the individual thrusters located on board. A modified power distribution system, which takes into account the efficient work of a main engine propeller, is presented. During the research computer simulations were made on the basis of a modified and an unmodified thrust allocation system working with an LMI controller and a mathematical model of a training tanker. “Proposed method” of power distribution results in more efficient work of the controller and guarantees faster determination of the fixed velocity value.